+ python -m lidar_slam --no-model /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.002414037 Adjusted end_distance from 9.223372036854776e+18 to 289.862414037 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002414037 meters 0.04570134110676701 Centerline is valid? [0, True] SLAMing on 0.062414037 meters 0.044704194536384134 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99985797e-01 4.34757938e-03 -3.08292522e-03 6.20673960e-02] [-4.34687434e-03 9.99990525e-01 2.35355129e-04 1.24130857e-02] [ 3.08391923e-03 -2.21950697e-04 9.99995220e-01 -1.25778003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12241403699999999 meters 0.04362418340333653 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.01 [[ 9.99969881e-01 5.95467140e-03 -4.97787825e-03 1.21470212e-01] [-5.95285540e-03 9.99982210e-01 3.79551193e-04 1.49845763e-02] [ 4.98004979e-03 -3.49907172e-04 9.99987538e-01 -6.45966359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182414037 meters 0.04316559546831869 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:-0.01 [[ 9.99978148e-01 5.89792750e-03 -2.98644538e-03 1.80796357e-01] [-5.89727412e-03 9.99982585e-01 2.27538461e-04 1.30765932e-02] [ 2.98773537e-03 -2.09921601e-04 9.99995515e-01 -6.73563646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242414037 meters 0.044145421536867714 Centerline is valid? [True, True] Translation: X:0.24, Y:0.02, Z:-0.01 [[ 9.99969840e-01 6.97480593e-03 -3.41641195e-03 2.39466680e-01] [-6.97395824e-03 9.99975648e-01 2.59974269e-04 1.81863234e-02] [ 3.41814202e-03 -2.36140513e-04 9.99994130e-01 -5.13421507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30241403699999997 meters 0.04630470516587832 Centerline is valid? [True, True] Translation: X:0.30, Y:0.02, Z:-0.01 [[ 9.99972183e-01 6.07925239e-03 -4.32147643e-03 2.98462163e-01] [-6.07788882e-03 9.99981475e-01 3.28595916e-04 1.86381428e-02] [ 4.32339400e-03 -3.02321322e-04 9.99990608e-01 -6.78564471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36241403699999997 meters 0.04657356518234478 Centerline is valid? [True, True] Translation: X:0.36, Y:0.02, Z:-0.01 [[ 9.99992621e-01 -2.85182056e-03 -2.57386329e-03 3.58800616e-01] [ 2.85233366e-03 9.99995913e-01 1.95700649e-04 1.71232185e-02] [ 2.57329467e-03 -2.03040721e-04 9.99996668e-01 -6.62022280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42241403699999996 meters 0.05109021483094158 Centerline is valid? [True, True] Translation: X:0.42, Y:0.01, Z:-0.01 [[ 9.99936832e-01 -1.06744143e-02 -3.51989469e-03 4.19055687e-01] [ 1.06754221e-02 9.99942980e-01 2.67652577e-04 9.91694776e-03] [ 3.51683695e-03 -3.05212031e-04 9.99993769e-01 -7.76654197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48241403699999996 meters 0.05846063686709744 Centerline is valid? [True, True] Translation: X:0.48, Y:0.00, Z:-0.02 [[ 9.99743487e-01 -2.02524422e-02 -1.01389902e-02 4.77831080e-01] [ 2.02612956e-02 9.99794421e-01 7.71236477e-04 9.96710990e-04] [ 1.01212864e-02 -9.76467722e-04 9.99948302e-01 -1.71312469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542414037 meters 0.0620967579126765 Centerline is valid? [True, True] Translation: X:0.54, Y:0.00, Z:-0.02 [[ 9.99694329e-01 -2.27653192e-02 -9.64303968e-03 5.38368857e-01] [ 2.27734425e-02 9.99740383e-01 7.33417419e-04 1.56967741e-03] [ 9.62383970e-03 -9.52798445e-04 9.99953236e-01 -1.76988890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602414037 meters 0.05630701365813744 Centerline is valid? [True, True] Translation: X:0.60, Y:0.01, Z:-0.01 [[ 9.99741633e-01 -2.15651315e-02 -7.18415637e-03 6.00217079e-01] [ 2.15696106e-02 9.99767199e-01 5.46557661e-04 1.14798322e-02] [ 7.17069731e-03 -7.01375904e-04 9.99974044e-01 -1.43257914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6624140369999999 meters 0.06352192236908503 Centerline is valid? [True, True] Translation: X:0.66, Y:0.01, Z:-0.01 [[ 9.99779263e-01 -2.03493776e-02 -5.22767457e-03 6.60854000e-01] [ 2.03517338e-02 9.99792803e-01 3.97922452e-04 8.72247183e-03] [ 5.21849394e-03 -5.04226858e-04 9.99986256e-01 -1.47781199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722414037 meters 0.05666574869653204 Centerline is valid? [True, True] Translation: X:0.72, Y:0.02, Z:-0.02 [[ 9.99776503e-01 -2.07565766e-02 -4.01349625e-03 7.23743351e-01] [ 2.07579708e-02 9.99784483e-01 3.06018922e-04 2.19114568e-02] [ 4.00627937e-03 -3.89262566e-04 9.99991899e-01 -1.72124487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782414037 meters 0.06150390882312374 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:-0.02 [[ 9.99684245e-01 -2.43687580e-02 -6.12969354e-03 7.83770510e-01] [ 2.43720757e-02 9.99702848e-01 4.67130205e-04 2.35768491e-02] [ 6.11648871e-03 -6.16376062e-04 9.99981104e-01 -1.88925662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842414037 meters 0.0618597366559833 Centerline is valid? [True, True] Translation: X:0.84, Y:0.03, Z:-0.02 [[ 9.99536803e-01 -2.88218746e-02 -9.77134121e-03 8.44690266e-01] [ 2.88305164e-02 9.99584037e-01 7.44676385e-04 2.75532608e-02] [ 9.74581372e-03 -1.02604427e-03 9.99951982e-01 -2.28405713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9024140369999999 meters 0.07180516759164433 Centerline is valid? [True, True] Translation: X:0.90, Y:0.02, Z:-0.03 [[ 9.99351953e-01 -3.50230790e-02 -8.31006733e-03 9.03168116e-01] [ 3.50295431e-02 9.99386076e-01 6.33546652e-04 1.74884601e-02] [ 8.28277683e-03 -9.24233946e-04 9.99965270e-01 -2.69756398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9624140369999999 meters 0.06929787444457232 Centerline is valid? [True, True] Translation: X:0.97, Y:0.03, Z:-0.03 [[ 9.99183815e-01 -3.88488251e-02 -1.10667472e-02 9.65030871e-01] [ 3.88605203e-02 9.99244289e-01 8.43640718e-04 3.01212158e-02] [ 1.10256094e-02 -1.27301170e-03 9.99938406e-01 -3.00591875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022414037 meters 0.06549468285839981 Centerline is valid? [True, True] Translation: X:1.03, Y:0.05, Z:-0.03 [[ 9.99194528e-01 -3.85858580e-02 -1.10193908e-02 1.02824295e+00] [ 3.85974473e-02 9.99254487e-01 8.40915668e-04 4.68776588e-02] [ 1.09787282e-02 -1.26555869e-03 9.99938931e-01 -2.98571361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0824140370000002 meters 0.07062132790892123 Centerline is valid? [True, True] Translation: X:1.09, Y:0.05, Z:-0.03 [[ 9.99225287e-01 -3.77513930e-02 -1.11201730e-02 1.08855106e+00] [ 3.77631457e-02 9.99286358e-01 8.48738910e-04 4.85191910e-02] [ 1.10801961e-02 -1.26801409e-03 9.99937809e-01 -3.28429824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.142414037 meters 0.06654957597003697 Centerline is valid? [True, True] Translation: X:1.15, Y:0.05, Z:-0.03 [[ 9.99223465e-01 -3.76631314e-02 -1.15738956e-02 1.15101015e+00] [ 3.76758675e-02 9.99289621e-01 8.84274448e-04 5.19606794e-02] [ 1.15323692e-02 -1.31964433e-03 9.99932629e-01 -3.47705113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.202414037 meters 0.07314932482491579 Centerline is valid? [True, True] Translation: X:1.21, Y:0.05, Z:-0.03 [[ 9.99135438e-01 -4.05859415e-02 -9.00871346e-03 1.21026347e+00] [ 4.05937793e-02 9.99175495e-01 6.88803723e-04 5.11047599e-02] [ 8.97332999e-03 -1.05390594e-03 9.99959183e-01 -3.48736524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262414037 meters 0.07510002652589289 Centerline is valid? [True, True] Translation: X:1.27, Y:0.06, Z:-0.04 [[ 9.99219326e-01 -3.86572121e-02 -8.14604338e-03 1.27172901e+00] [ 3.86635582e-02 9.99252091e-01 6.22946088e-04 5.61247261e-02] [ 8.11586952e-03 -9.37414793e-04 9.99966626e-01 -3.56428766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.322414037 meters 0.07510937053381371 Centerline is valid? [True, True] Translation: X:1.33, Y:0.06, Z:-0.03 [[ 9.99293053e-01 -3.69837100e-02 -6.75276916e-03 1.33286367e+00] [ 3.69880330e-02 9.99315575e-01 5.16382263e-04 6.37209448e-02] [ 6.72904967e-03 -7.65788857e-04 9.99977066e-01 -3.44980153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.382414037 meters 0.07758877533625452 Centerline is valid? [True, True] Translation: X:1.39, Y:0.07, Z:-0.04 [[ 9.99301499e-01 -3.58713111e-02 -1.04767434e-02 1.39470762e+00] [ 3.58816613e-02 9.99355724e-01 8.01565841e-04 6.63933631e-02] [ 1.04412403e-02 -1.17692891e-03 9.99944796e-01 -4.16377673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.442414037 meters 0.07686331971687312 Centerline is valid? [True, True] Translation: X:1.46, Y:0.07, Z:-0.05 [[ 9.99281602e-01 -3.60681790e-02 -1.16347268e-02 1.45716679e+00] [ 3.60809670e-02 9.99348473e-01 8.91032206e-04 6.77174048e-02] [ 1.15950085e-02 -1.31018428e-03 9.99931917e-01 -4.54495662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502414037 meters 0.08294173401472378 Centerline is valid? [True, True] Translation: X:1.52, Y:0.06, Z:-0.05 [[ 9.99321509e-01 -3.53460081e-02 -1.03528586e-02 1.51753929e+00] [ 3.53560963e-02 9.99374463e-01 7.92988949e-04 6.32310944e-02] [ 1.03183535e-02 -1.15848758e-03 9.99946093e-01 -4.82827700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5624140370000001 meters 0.07991060810396157 Centerline is valid? [True, True] Translation: X:1.58, Y:0.07, Z:-0.05 [[ 9.99387414e-01 -3.37347716e-02 -9.31464216e-03 1.57974477e+00] [ 3.37428703e-02 9.99430292e-01 7.13631668e-04 7.38516691e-02] [ 9.28526134e-03 -1.02749727e-03 9.99956363e-01 -4.87911919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.622414037 meters 0.08049296359778754 Centerline is valid? [True, True] Translation: X:1.64, Y:0.08, Z:-0.05 [[ 9.99383848e-01 -3.42763020e-02 -7.55383301e-03 1.64169748e+00] [ 3.42816468e-02 9.99412044e-01 5.79180287e-04 7.51096553e-02] [ 7.52953953e-03 -8.37781259e-04 9.99971302e-01 -4.84804570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.682414037 meters 0.0787192454907628 Centerline is valid? [True, True] Translation: X:1.70, Y:0.08, Z:-0.05 [[ 9.99398706e-01 -3.40387260e-02 -6.60243618e-03 1.70481614e+00] [ 3.40428074e-02 9.99420247e-01 5.06749305e-04 7.89142773e-02] [ 6.58135930e-03 -7.31210063e-04 9.99978075e-01 -4.78080092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742414037 meters 0.0899004847067005 Centerline is valid? [True, True] Translation: X:1.76, Y:0.06, Z:-0.06 [[ 9.99374638e-01 -3.40414884e-02 -9.56607417e-03 1.76487216e+00] [ 3.40500611e-02 9.99419859e-01 7.34677399e-04 6.33204888e-02] [ 9.53551498e-03 -1.05994337e-03 9.99953974e-01 -5.76262689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.802414037 meters 0.08451384062228061 Centerline is valid? [True, True] Translation: X:1.83, Y:0.07, Z:-0.06 [[ 9.99417268e-01 -3.18847238e-02 -1.21856204e-02 1.82659676e+00] [ 3.18984791e-02 9.99490676e-01 9.36084937e-04 7.42194386e-02] [ 1.21495672e-02 -1.32424221e-03 9.99925314e-01 -6.09124801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.862414037 meters 0.07892224470376294 Centerline is valid? [True, True] Translation: X:1.89, Y:0.09, Z:-0.05 [[ 9.99561693e-01 -2.86778074e-02 -7.34880515e-03 1.88897006e+00] [ 2.86827247e-02 9.99588407e-01 5.64587189e-04 8.85294017e-02] [ 7.32958931e-03 -7.75123482e-04 9.99972838e-01 -5.22818462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.922414037 meters 0.07909446502967564 Centerline is valid? [True, True] Translation: X:1.95, Y:0.09, Z:-0.06 [[ 9.99603693e-01 -2.75023827e-02 -6.00627787e-03 1.95082260e+00] [ 2.75056488e-02 9.99621541e-01 4.61831590e-04 8.61542613e-02] [ 5.99130327e-03 -6.26855133e-04 9.99981856e-01 -5.70026135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.982414037 meters 0.08122664439086859 Centerline is valid? [True, True] Translation: X:2.01, Y:0.08, Z:-0.06 [[ 9.99544181e-01 -2.91082244e-02 -8.00880738e-03 2.01173061e+00] [ 2.91140843e-02 9.99575905e-01 6.16056551e-04 7.90673846e-02] [ 7.98747858e-03 -8.48944835e-04 9.99967739e-01 -6.17087431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042414037 meters 0.08322522829997069 Centerline is valid? [True, True] Translation: X:2.07, Y:0.08, Z:-0.06 [[ 9.99547732e-01 -2.86392124e-02 -9.17211199e-03 2.07366933e+00] [ 2.86468836e-02 9.99589344e-01 7.06050232e-04 8.09413646e-02] [ 9.14812469e-03 -9.68483333e-04 9.99957686e-01 -6.00294588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102414037 meters 0.0817175062248956 Centerline is valid? [True, True] Translation: X:2.13, Y:0.08, Z:-0.06 [[ 9.99460589e-01 -3.08645758e-02 -1.12209384e-02 2.13439853e+00] [ 3.08761954e-02 9.99522843e-01 8.63734172e-04 8.27354274e-02] [ 1.11889254e-02 -1.20972815e-03 9.99936670e-01 -6.21145275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162414037 meters 0.09288254406400594 Centerline is valid? [True, True] Translation: X:2.19, Y:0.06, Z:-0.07 [[ 9.99302771e-01 -3.50982587e-02 -1.27312219e-02 2.19202740e+00] [ 3.51135527e-02 9.99382849e-01 9.79697987e-04 6.21220583e-02] [ 1.26889791e-02 -1.42605334e-03 9.99918475e-01 -6.89382609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2224140369999996 meters 0.08704679968794528 Centerline is valid? [True, True] Translation: X:2.25, Y:0.07, Z:-0.07 [[ 9.99316822e-01 -3.52563443e-02 -1.10851052e-02 2.25483876e+00] [ 3.52679585e-02 9.99377527e-01 8.53944413e-04 6.62617075e-02] [ 1.10480981e-02 -1.24431005e-03 9.99938194e-01 -6.66204248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2824140369999997 meters 0.08700205455932411 Centerline is valid? [True, True] Translation: X:2.32, Y:0.06, Z:-0.07 [[ 9.99252499e-01 -3.62392463e-02 -1.34595680e-02 2.31630209e+00] [ 3.62564634e-02 9.99341980e-01 1.03729825e-03 6.29863246e-02] [ 1.34131204e-02 -1.52451920e-03 9.99908878e-01 -6.88832804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3424140369999997 meters 0.09411463728441215 Centerline is valid? [True, True] Translation: X:2.38, Y:0.05, Z:-0.07 [[ 9.99212707e-01 -3.65919504e-02 -1.53295887e-02 2.37614902e+00] [ 3.66143342e-02 9.99328771e-01 1.18197460e-03 4.94146801e-02] [ 1.52760483e-02 -1.74232672e-03 9.99881796e-01 -7.45306168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402414037 meters 0.089192851387264 Centerline is valid? [True, True] Translation: X:2.44, Y:0.05, Z:-0.07 [[ 9.99275634e-01 -3.60134334e-02 -1.22979414e-02 2.43854213e+00] [ 3.60278065e-02 9.99350337e-01 9.49130997e-04 5.21907635e-02] [ 1.22557704e-02 -1.39151133e-03 9.99923927e-01 -7.06413008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462414037 meters 0.08957386842260956 Centerline is valid? [True, True] Translation: X:2.50, Y:0.05, Z:-0.07 [[ 9.99316028e-01 -3.54728154e-02 -1.04477264e-02 2.50082900e+00] [ 3.54831677e-02 9.99369948e-01 8.07110710e-04 4.80879420e-02] [ 1.04125133e-02 -1.17727710e-03 9.99945095e-01 -6.84111568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522414037 meters 0.09281399753540238 Centerline is valid? [True, True] Translation: X:2.56, Y:0.04, Z:-0.07 [[ 9.99252692e-01 -3.67320108e-02 -1.20340303e-02 2.56095399e+00] [ 3.67458373e-02 9.99324211e-01 9.29793616e-04 3.80641445e-02] [ 1.19917446e-02 -1.37129929e-03 9.99927156e-01 -7.15942451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582414037 meters 0.0924927192285951 Centerline is valid? [True, True] Translation: X:2.62, Y:0.03, Z:-0.08 [[ 9.99165723e-01 -3.80377568e-02 -1.48656547e-02 2.62206956e+00] [ 3.80590074e-02 9.99274833e-01 1.14913428e-03 3.09663326e-02] [ 1.48111642e-02 -1.71394764e-03 9.99888840e-01 -7.64340377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6424140369999995 meters 0.09389577004470515 Centerline is valid? [True, True] Translation: X:2.68, Y:0.02, Z:-0.07 [[ 9.99221984e-01 -3.71343440e-02 -1.32840990e-02 2.68231685e+00] [ 3.71512407e-02 9.99309126e-01 1.02736522e-03 2.35008938e-02] [ 1.32367708e-02 -1.52008667e-03 9.99911235e-01 -7.49614830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7024140369999996 meters 0.09483064086784111 Centerline is valid? [True, True] Translation: X:2.74, Y:0.02, Z:-0.07 [[ 9.99289938e-01 -3.58085101e-02 -1.17205155e-02 2.74301498e+00] [ 3.58215758e-02 9.99357790e-01 9.06673239e-04 1.52800176e-02] [ 1.16805218e-02 -1.32587678e-03 9.99930901e-01 -7.31842001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7624140369999997 meters 0.09703119287897759 Centerline is valid? [True, True] Translation: X:2.80, Y:0.00, Z:-0.08 [[ 9.99299125e-01 -3.44548677e-02 -1.46328617e-02 2.80386650e+00] [ 3.44750984e-02 9.99404915e-01 1.13248451e-03 3.81600054e-03] [ 1.45851343e-02 -1.63616013e-03 9.99892293e-01 -7.94679216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8224140369999997 meters 0.09838197694544008 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.01, Z:-0.08 [[ 9.99321997e-01 -3.36841475e-02 -1.48635474e-02 2.86598777e+00] [ 3.37049602e-02 9.99431163e-01 1.15191371e-03 -7.71978013e-03] [ 1.48162912e-02 -1.65210798e-03 9.99888868e-01 -7.93500758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8824140369999998 meters 0.08475756902553626 Centerline is valid? [True, True] Translation: X:2.93, Y:0.01, Z:-0.07 [[ 9.99458423e-01 -2.95842968e-02 -1.44093641e-02 2.92771016e+00] [ 2.96034338e-02 9.99561099e-01 1.11657041e-03 6.73377158e-03] [ 1.43700069e-02 -1.54253235e-03 9.99895556e-01 -7.49402271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942414037 meters 0.08492087356229974 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.00, Z:-0.08 [[ 9.99412793e-01 -2.77417232e-02 -2.01113319e-02 2.98835584e+00] [ 2.77786529e-02 9.99612883e-01 1.55917777e-03 -1.61977284e-03] [ 2.00602922e-02 -2.11692792e-03 9.99796531e-01 -8.22795965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002414037 meters 0.08316301222247001 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.01, Z:-0.09 [[ 9.99401231e-01 -2.39994725e-02 -2.49239765e-02 3.04893858e+00] [ 2.40550455e-02 9.99708768e-01 1.93223680e-03 -5.69598045e-03] [ 2.48703452e-02 -2.53062722e-03 9.99687482e-01 -8.68728400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062414037 meters 0.08316301222247001 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.01, Z:-0.09 [[ 9.99394504e-01 -2.42773977e-02 -2.49245380e-02 3.10646340e+00] [ 2.43328771e-02 9.99702058e-01 1.92498039e-03 -1.00051595e-02] [ 2.48703785e-02 -2.53030054e-03 9.99687482e-01 -8.69409777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122414037 meters 0.0823219230642769 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.01, Z:-0.09 [[ 9.99645132e-01 -1.49790484e-02 -2.20281141e-02 3.16533081e+00] [ 1.50201414e-02 9.99885744e-01 1.70119914e-03 -1.29145272e-02] [ 2.20001149e-02 -2.03146083e-03 9.99755904e-01 -8.61176735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1824140369999996 meters 0.07576182241694296 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.01, Z:-0.08 [[ 9.99617001e-01 -1.10830963e-02 -2.53577538e-02 3.22657120e+00] [ 1.11363106e-02 9.99936072e-01 1.95828247e-03 -7.35416834e-03] [ 2.53344289e-02 -2.23992427e-03 9.99676522e-01 -8.42390450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2424140369999996 meters 0.07048802046653588 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.01, Z:-0.08 [[ 9.99748010e-01 -4.47272459e-03 -2.19979751e-02 3.28748253e+00] [ 4.51117771e-03 9.99988382e-01 1.69871594e-03 -5.37816649e-03] [ 2.19901216e-02 -1.79752465e-03 9.99756572e-01 -8.11346194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3024140369999997 meters 0.07033695888208101 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.01, Z:-0.08 [[ 9.99819051e-01 4.90834067e-04 -1.90164221e-02 3.34601986e+00] [-4.63005528e-04 9.99998816e-01 1.46777020e-03 -1.19854349e-02] [ 1.90171201e-02 -1.45869990e-03 9.99818094e-01 -7.98419494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3624140369999997 meters 0.07100989146741105 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.02, Z:-0.08 [[ 9.99807461e-01 1.67628021e-03 -1.95507152e-02 3.40464099e+00] [-1.64713686e-03 9.99997508e-01 1.50666152e-03 -2.30847735e-02] [ 1.95531921e-02 -1.47416873e-03 9.99807731e-01 -8.19622595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422414037 meters 0.07372021667034225 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.04, Z:-0.09 [[ 9.99800036e-01 -1.31183490e-03 -1.99541325e-02 3.46390566e+00] [ 1.34278395e-03 9.99997916e-01 1.53769062e-03 -3.94401479e-02] [ 1.99520737e-02 -1.56417723e-03 9.99799714e-01 -8.54020967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482414037 meters 0.07604634418423337 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.05, Z:-0.08 [[ 9.99822157e-01 -6.17450471e-03 -1.78193593e-02 3.52379334e+00] [ 6.19995261e-03 9.99979837e-01 1.37321285e-03 -5.25557111e-02] [ 1.78105211e-02 -1.48344782e-03 9.99840280e-01 -8.38192777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542414037 meters 0.0807794176677903 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.08, Z:-0.09 [[ 9.99732360e-01 -1.50624480e-02 -1.75593348e-02 3.58259790e+00] [ 1.50885175e-02 9.99885246e-01 1.35310816e-03 -7.54451740e-02] [ 1.75369387e-02 -1.61769034e-03 9.99844907e-01 -8.57880882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6024140369999995 meters 0.0841368612748438 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.09, Z:-0.09 [[ 9.99619682e-01 -2.06165669e-02 -1.83152390e-02 3.64204397e+00] [ 2.06458529e-02 9.99785856e-01 1.41133701e-03 -9.19592191e-02] [ 1.82822200e-02 -1.78893398e-03 9.99831266e-01 -8.59905301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6624140369999996 meters 0.08331471327029011 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.10, Z:-0.08 [[ 9.99457866e-01 -2.79555346e-02 -1.73914448e-02 3.70150428e+00] [ 2.79830351e-02 9.99607500e-01 1.33987774e-03 -1.02491667e-01] [ 1.73471616e-02 -1.82581676e-03 9.99847860e-01 -8.40148736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7224140369999996 meters 0.08562273425615878 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.12, Z:-0.08 [[ 9.99401276e-01 -3.12028226e-02 -1.49490262e-02 3.76060688e+00] [ 3.12234961e-02 9.99511765e-01 1.15148317e-03 -1.17486485e-01] [ 1.49057980e-02 -1.61755461e-03 9.99887594e-01 -8.46229639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7824140369999997 meters 0.08868814276403043 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.14, Z:-0.08 [[ 9.99364906e-01 -3.41537773e-02 -1.01638733e-02 3.81947346e+00] [ 3.41634847e-02 9.99415951e-01 7.82951405e-04 -1.37297384e-01] [ 1.01311963e-02 -1.12968749e-03 9.99948040e-01 -8.34312158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8424140369999997 meters 0.08952916431839238 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.15, Z:-0.08 [[ 9.99383862e-01 -3.36043909e-02 -1.01312461e-02 3.88133567e+00] [ 3.36140161e-02 9.99434584e-01 7.81230884e-04 -1.49033324e-01] [ 1.00992650e-02 -1.12130141e-03 9.99948372e-01 -8.17496276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902414037 meters 0.09189555409080007 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.17, Z:-0.09 [[ 9.99392901e-01 -3.25864726e-02 -1.23268233e-02 3.94100173e+00] [ 3.26006502e-02 9.99468005e-01 9.50902746e-04 -1.66704132e-01] [ 1.22892789e-02 -1.35218791e-03 9.99923570e-01 -8.57073143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962414037 meters 0.09353284961461808 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.18, Z:-0.09 [[ 9.99461503e-01 -3.03682516e-02 -1.24287077e-02 3.99988355e+00] [ 3.03824927e-02 9.99537886e-01 9.58579690e-04 -1.79334503e-01] [ 1.23938538e-02 -1.33567862e-03 9.99922301e-01 -8.57908410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022414037 meters 0.08763230872299681 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.18, Z:-0.09 [[ 9.99566081e-01 -2.64686943e-02 -1.29250625e-02 4.06079243e+00] [ 2.64837755e-02 9.99648746e-01 9.97025569e-04 -1.80560139e-01] [ 1.28941325e-02 -1.33889739e-03 9.99915971e-01 -8.56958046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082414037 meters 0.08548017069528017 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.18, Z:-0.09 [[ 9.99658131e-01 -2.25057415e-02 -1.33083893e-02 4.12128378e+00] [ 2.25213825e-02 9.99745834e-01 1.02656082e-03 -1.84498296e-01] [ 1.32819032e-02 -1.32593319e-03 9.99910913e-01 -8.64053351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142414037 meters 0.08575986939502031 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.19, Z:-0.08 [[ 9.99713679e-01 -2.05639011e-02 -1.22346563e-02 4.18196179e+00] [ 2.05769788e-02 9.99787826e-01 9.43976091e-04 -1.88532201e-01] [ 1.22126486e-02 -1.19545807e-03 9.99924708e-01 -8.48012340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2024140370000005 meters 0.08922688897806538 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.20, Z:-0.09 [[ 9.99701864e-01 -2.05184037e-02 -1.32354738e-02 4.24154612e+00] [ 2.05337077e-02 9.99788639e-01 1.02142370e-03 -2.03145039e-01] [ 1.32117184e-02 -1.29289253e-03 9.99911886e-01 -8.71455859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262414037 meters 0.0883043187086346 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.21, Z:-0.09 [[ 9.99655160e-01 -2.25011270e-02 -1.35373702e-02 4.30102214e+00] [ 2.25173135e-02 9.99745908e-01 1.04444292e-03 -2.08919546e-01] [ 1.35104293e-02 -1.34890797e-03 9.99907820e-01 -8.72659946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322414037000001 meters 0.08735788116826819 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.21, Z:-0.08 [[ 9.99592229e-01 -2.54122914e-02 -1.30226920e-02 4.36176544e+00] [ 2.54275149e-02 9.99676164e-01 1.00473355e-03 -2.11500311e-01] [ 1.29929422e-02 -1.33545855e-03 9.99914696e-01 -8.44012868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382414037 meters 0.08987544354635175 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.22, Z:-0.09 [[ 9.99491507e-01 -2.81731747e-02 -1.49331631e-02 4.42137735e+00] [ 2.81934979e-02 9.99601820e-01 1.15213065e-03 -2.21414585e-01] [ 1.48947578e-02 -1.57256290e-03 9.99887830e-01 -8.60706834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442414037 meters 0.0943208041272285 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.24, Z:-0.09 [[ 9.99447295e-01 -2.83502499e-02 -1.73599763e-02 4.48079258e+00] [ 2.83777485e-02 9.99596373e-01 1.33968976e-03 -2.35637124e-01] [ 1.73149888e-02 -1.83158634e-03 9.99848407e-01 -8.93178062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502414037 meters 0.092703891992295 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.24, Z:-0.09 [[ 9.99561231e-01 -2.59151059e-02 -1.43440936e-02 4.54095976e+00] [ 2.59336302e-02 9.99663054e-01 1.10689126e-03 -2.36674494e-01] [ 1.43105752e-02 -1.47840001e-03 9.99896506e-01 -8.66464526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562414037 meters 0.08665489425920905 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.23, Z:-0.09 [[ 9.99626444e-01 -2.37160279e-02 -1.35838867e-02 4.60205120e+00] [ 2.37324409e-02 9.99717796e-01 1.04832539e-03 -2.29833431e-01] [ 1.35551912e-02 -1.37031257e-03 9.99907185e-01 -8.52143143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622414037 meters 0.08665368169215683 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.23, Z:-0.09 [[ 9.99680834e-01 -1.94608115e-02 -1.61092207e-02 4.66277479e+00] [ 1.94833521e-02 9.99809408e-01 1.24346750e-03 -2.33379897e-01] [ 1.60819515e-02 -1.55693224e-03 9.99869465e-01 -8.77141643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682414037 meters 0.08714428897255493 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.24, Z:-0.09 [[ 9.99733134e-01 -1.70232722e-02 -1.56163370e-02 4.72298400e+00] [ 1.70441567e-02 9.99854011e-01 1.20522370e-03 -2.38374775e-01] [ 1.55935404e-02 -1.47106936e-03 9.99877331e-01 -8.77147295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7424140370000005 meters 0.08826304825241614 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.25, Z:-0.09 [[ 9.99712548e-01 -1.52487731e-02 -1.85012697e-02 4.78135500e+00] [ 1.52777684e-02 9.99882270e-01 1.42686538e-03 -2.47158431e-01] [ 1.84773336e-02 -1.70911334e-03 9.99827819e-01 -9.05499897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802414037 meters 0.08969563573330758 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.25, Z:-0.09 [[ 9.99671694e-01 -1.45152963e-02 -2.11141993e-02 4.83917366e+00] [ 1.45528610e-02 9.99892779e-01 1.62654866e-03 -2.49468832e-01] [ 2.10883256e-02 -1.93328666e-03 9.99775747e-01 -9.11210511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862414037 meters 0.09078526872998281 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.26, Z:-0.09 [[ 9.99676280e-01 -1.32348943e-02 -2.17295357e-02 4.89776300e+00] [ 1.32743502e-02 9.99910493e-01 1.67252935e-03 -2.56913884e-01] [ 2.17054551e-02 -1.96043339e-03 9.99762487e-01 -9.39057829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922414037 meters 0.09091231421923586 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.26, Z:-0.10 [[ 9.99625245e-01 -1.20908446e-02 -2.45597369e-02 4.95686981e+00] [ 1.21407632e-02 9.99924523e-01 1.88444191e-03 -2.58653831e-01] [ 2.45350987e-02 -2.18190966e-03 9.99696588e-01 -9.51133455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982414037 meters 0.09215940077506088 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.26, Z:-0.10 [[ 9.99629993e-01 -1.15952003e-02 -2.46054404e-02 5.01424907e+00] [ 1.16451107e-02 9.99930415e-01 1.88610652e-03 -2.61795118e-01] [ 2.45818585e-02 -2.17194172e-03 9.99695461e-01 -9.52554230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042414037 meters 0.08804276772799338 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.26, Z:-0.09 [[ 9.99676153e-01 -1.16278741e-02 -2.26358676e-02 5.07323037e+00] [ 1.16699925e-02 9.99930408e-01 1.72948119e-03 -2.56148020e-01] [ 2.26141821e-02 -1.99308151e-03 9.99742280e-01 -9.03990364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102414037 meters 0.08999330851582962 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.27, Z:-0.09 [[ 9.99705433e-01 -1.33695826e-02 -2.02559248e-02 5.13125028e+00] [ 1.34035651e-02 9.99908978e-01 1.54281612e-03 -2.67095460e-01] [ 2.02334543e-02 -1.81386326e-03 9.99793637e-01 -8.96259207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1624140370000005 meters 0.08747657329035544 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.26, Z:-0.09 [[ 9.99648993e-01 -1.34635122e-02 -2.28171811e-02 5.19110864e+00] [ 1.35065323e-02 9.99907282e-01 1.73236090e-03 -2.58040192e-01] [ 2.27917419e-02 -2.03993383e-03 9.99738153e-01 -8.60763309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222414037 meters 0.08832360627665271 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.26, Z:-0.09 [[ 9.99640647e-01 -1.29489225e-02 -2.34713162e-02 5.24994230e+00] [ 1.29941725e-02 9.99913994e-01 1.77638897e-03 -2.63024514e-01] [ 2.34462952e-02 -2.08074095e-03 9.99722932e-01 -8.91201002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282414037 meters 0.08957855208437122 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.27, Z:-0.09 [[ 9.99598015e-01 -1.36235088e-02 -2.48637819e-02 5.30894097e+00] [ 1.36744813e-02 9.99904730e-01 1.88119118e-03 -2.70979963e-01] [ 2.48357848e-02 -2.22043429e-03 9.99689078e-01 -9.28941081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342414037 meters 0.08876794917047856 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.27, Z:-0.09 [[ 9.99582342e-01 -1.55382401e-02 -2.43660589e-02 5.36967147e+00] [ 1.55877450e-02 9.99876805e-01 1.84308826e-03 -2.67605740e-01] [ 2.43344188e-02 -2.22213039e-03 9.99701405e-01 -8.89852025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402414037 meters 0.09239357504065157 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.28, Z:-0.09 [[ 9.99496881e-01 -1.97091667e-02 -2.48502163e-02 5.42881941e+00] [ 1.97619289e-02 9.99802948e-01 1.87939486e-03 -2.77290268e-01] [ 2.48082782e-02 -2.36953751e-03 9.99689419e-01 -9.16896587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462414037 meters 0.0946208328395974 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.29, Z:-0.09 [[ 9.99422709e-01 -2.32219757e-02 -2.47989830e-02 5.48849883e+00] [ 2.32755924e-02 9.99727327e-01 1.87555902e-03 -2.87781079e-01] [ 2.47486668e-02 -2.45168730e-03 9.99690699e-01 -9.38402250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522414037 meters 0.09593035500997997 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.29, Z:-0.09 [[ 9.99323051e-01 -2.49968604e-02 -2.69925385e-02 5.54866024e+00] [ 2.50610208e-02 9.99683839e-01 2.04124397e-03 -2.90369886e-01] [ 2.69329798e-02 -2.71632271e-03 9.99633551e-01 -9.27584875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582414037 meters 0.09617719796144299 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.29, Z:-0.09 [[ 9.99263572e-01 -2.47626833e-02 -2.93107956e-02 5.60723127e+00] [ 2.48380344e-02 9.99689047e-01 2.20941347e-03 -2.92789046e-01] [ 2.92469704e-02 -2.93580894e-03 9.99567905e-01 -9.47207809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642414037 meters 0.09769717240031447 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.30, Z:-0.09 [[ 9.99345482e-01 -2.34350867e-02 -2.75572828e-02 5.66629001e+00] [ 2.35011695e-02 9.99721653e-01 2.07654796e-03 -2.98996851e-01] [ 2.75009482e-02 -2.72281720e-03 9.99618069e-01 -9.44838734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7024140370000005 meters 0.08946880993940332 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.28, Z:-0.09 [[ 9.99475402e-01 -1.91055350e-02 -2.61514730e-02 5.72827173e+00] [ 1.91635734e-02 9.99814420e-01 1.97047381e-03 -2.84974432e-01] [ 2.61089729e-02 -2.47059578e-03 9.99656050e-01 -8.89398189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762414037 meters 0.09057664207545485 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.29, Z:-0.09 [[ 9.99511977e-01 -1.57461672e-02 -2.69789809e-02 5.78812037e+00] [ 1.58067230e-02 9.99873000e-01 2.03275207e-03 -2.88728538e-01] [ 2.69435465e-02 -2.45820932e-03 9.99633934e-01 -9.02455688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822414037 meters 0.0892249019527745 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.29, Z:-0.09 [[ 9.99571007e-01 -1.43688689e-02 -2.55212992e-02 5.84770116e+00] [ 1.44225872e-02 9.99894142e-01 1.92200965e-03 -2.89230643e-01] [ 2.54909804e-02 -2.28926828e-03 9.99672431e-01 -8.80478600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882414037 meters 0.09038150821563498 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.29, Z:-0.09 [[ 9.99535450e-01 -1.25912430e-02 -2.77550894e-02 5.90596634e+00] [ 1.26540476e-02 9.99917754e-01 2.08832840e-03 -2.91505643e-01] [ 2.77265120e-02 -2.43857249e-03 9.99612572e-01 -8.96793553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942414037 meters 0.09095305688340959 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.30, Z:-0.09 [[ 9.99562426e-01 -1.45208993e-02 -2.57701518e-02 5.96479526e+00] [ 1.45756272e-02 9.99891893e-01 1.93711659e-03 -3.00748389e-01] [ 2.57392372e-02 -2.31188508e-03 9.99666018e-01 -9.12236971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002414037 meters 0.08973283881720683 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.30, Z:-0.09 [[ 9.99595971e-01 -1.47910347e-02 -2.42718064e-02 6.02411498e+00] [ 1.48395152e-02 9.99888235e-01 1.81848868e-03 -2.99708527e-01] [ 2.42421963e-02 -2.17793580e-03 9.99703742e-01 -8.75951688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062414037 meters 0.09095310499739695 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.30, Z:-0.09 [[ 9.99491023e-01 -1.41429924e-02 -2.85949251e-02 6.08183434e+00] [ 1.42099638e-02 9.99896743e-01 2.14021489e-03 -3.04068291e-01] [ 2.85617034e-02 -2.54545842e-03 9.99588790e-01 -9.00997794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122414037 meters 0.09250993985148231 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.32, Z:-0.09 [[ 9.99548926e-01 -1.54367791e-02 -2.57614200e-02 6.13947668e+00] [ 1.54915023e-02 9.99878145e-01 1.92599577e-03 -3.15386627e-01] [ 2.57285497e-02 -2.32421010e-03 9.99666264e-01 -9.02988636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182414037 meters 0.0908513423094835 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.31, Z:-0.08 [[ 9.99612595e-01 -1.45553389e-02 -2.37234630e-02 6.19947715e+00] [ 1.46014801e-02 9.99891821e-01 1.77288910e-03 -3.11829712e-01] [ 2.36950916e-02 -2.11859994e-03 9.99716987e-01 -8.38707365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2424140370000005 meters 0.09122849980829567 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.31, Z:-0.09 [[ 9.99644652e-01 -1.03966190e-02 -2.45454585e-02 6.25818848e+00] [ 1.04447444e-02 9.99943772e-01 1.83326883e-03 -3.14423651e-01] [ 2.45250186e-02 -2.08898843e-03 9.99697034e-01 -8.72663492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302414037 meters 0.09040081587963872 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.32, Z:-0.09 [[ 9.99658293e-01 -6.62581648e-03 -2.52862919e-02 6.31826959e+00] [ 6.67569322e-03 9.99975934e-01 1.88857527e-03 -3.20448316e-01] [ 2.52731700e-02 -2.05673346e-03 9.99678467e-01 -9.13075449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362414037 meters 0.08292224760195296 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.31, Z:-0.08 [[ 9.99756475e-01 2.71703636e-03 -2.18999766e-02 6.38029728e+00] [-2.68186227e-03 9.99995067e-01 1.63533445e-03 -3.07550796e-01] [ 2.19043118e-02 -1.57620349e-03 9.99758829e-01 -8.40642711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422414037 meters 0.08016596033704199 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.30, Z:-0.08 [[ 9.99671007e-01 1.42675685e-02 -2.13146678e-02 6.44020352e+00] [-1.42368672e-02 9.99897384e-01 1.59144201e-03 -2.99621625e-01] [ 2.13351866e-02 -1.28746434e-03 9.99771550e-01 -8.12851339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482414037 meters 0.07914585386941597 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.31, Z:-0.09 [[ 9.99495083e-01 2.20991703e-02 -2.28299092e-02 6.49906680e+00] [-2.20659944e-02 9.99755064e-01 1.70410291e-03 -3.06588140e-01] [ 2.28619766e-02 -1.19947783e-03 9.99737911e-01 -8.71178455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542414037 meters 0.07695129083700965 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.31, Z:-0.08 [[ 9.99426857e-01 2.64146141e-02 -2.11713424e-02 6.56002095e+00] [-2.63870514e-02 9.99650552e-01 1.58023825e-03 -3.07552636e-01] [ 2.12056855e-02 -1.02068325e-03 9.99774613e-01 -8.49557753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602414037 meters 0.07487407310462299 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.30, Z:-0.08 [[ 9.99178012e-01 3.15768890e-02 -2.54204673e-02 6.62034591e+00] [-3.15388391e-02 9.99500728e-01 1.89646388e-03 -3.01091564e-01] [ 2.54676600e-02 -1.09317299e-03 9.99675049e-01 -8.20198988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6624140370000005 meters 0.0765511810796865 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.32, Z:-0.09 [[ 9.99067434e-01 3.35456483e-02 -2.71836634e-02 6.67746818e+00] [-3.35029282e-02 9.99436567e-01 2.02559256e-03 -3.15569734e-01] [ 2.72362970e-02 -1.11297123e-03 9.99628404e-01 -8.90449751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722414037 meters 0.07489860590267054 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.32, Z:-0.08 [[ 9.99214531e-01 3.16829106e-02 -2.38015402e-02 6.73648711e+00] [-3.16497801e-02 9.99497457e-01 1.76746416e-03 -3.19736487e-01] [ 2.38455774e-02 -1.01276236e-03 9.99715141e-01 -8.34558712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782414037 meters 0.07543053925787374 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.33, Z:-0.08 [[ 9.99403637e-01 2.77135537e-02 -2.05992336e-02 6.79569773e+00] [-2.76879090e-02 9.99615447e-01 1.52914997e-03 -3.30661318e-01] [ 2.06336903e-02 -9.57888333e-04 9.99786644e-01 -8.18242871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842414037 meters 0.07761855424653445 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.35, Z:-0.08 [[ 9.99511039e-01 2.34783396e-02 -2.06506933e-02 6.85418116e+00] [-2.34516719e-02 9.99723797e-01 1.53263222e-03 -3.46221689e-01] [ 2.06809732e-02 -1.04758954e-03 9.99785577e-01 -8.39993561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902414037 meters 0.07818230465772161 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.35, Z:-0.08 [[ 9.99564759e-01 2.15620588e-02 -2.01338145e-02 6.91363929e+00] [-2.15363357e-02 9.99766951e-01 1.49358216e-03 -3.54720966e-01] [ 2.01613270e-02 -1.05932351e-03 9.99796179e-01 -8.38012612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962414037 meters 0.07905339475060018 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.37, Z:-0.08 [[ 9.99669760e-01 1.52939409e-02 -2.06510651e-02 6.97278330e+00] [-1.52655484e-02 9.99882301e-01 1.53182011e-03 -3.68108864e-01] [ 2.06720621e-02 -1.21606441e-03 9.99785571e-01 -8.37529536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022414037 meters 0.08081536373436064 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.38, Z:-0.09 [[ 9.99688933e-01 9.51511457e-03 -2.30542778e-02 7.03205542e+00] [-9.47820411e-03 9.99953619e-01 1.70976935e-03 -3.82220871e-01] [ 2.30694771e-02 -1.49072435e-03 9.99732753e-01 -8.83725210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082414037 meters 0.08315704149470676 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.39, Z:-0.09 [[ 9.99652763e-01 5.47939728e-03 -2.57745846e-02 7.09068205e+00] [-5.43193468e-03 9.99983421e-01 1.91110464e-03 -3.93420384e-01] [ 2.57846290e-02 -1.77043518e-03 9.99665953e-01 -9.06897842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142414037 meters 0.08542702674108144 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.41, Z:-0.09 [[ 9.99661703e-01 2.58099976e-03 -2.58808255e-02 7.14937464e+00] [-2.53219022e-03 9.99994954e-01 1.91853033e-03 -4.05106363e-01] [ 2.58856466e-02 -1.85234612e-03 9.99663194e-01 -9.17050332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202414037 meters 0.08388137658144937 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.41, Z:-0.09 [[ 9.99709445e-01 1.39113542e-03 -2.40642884e-02 7.20858120e+00] [-1.34873938e-03 9.99997510e-01 1.77792315e-03 -4.06233941e-01] [ 2.40667018e-02 -1.74495011e-03 9.99708832e-01 -8.84202270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262414037 meters 0.08341313419301132 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.41, Z:-0.08 [[ 9.99752223e-01 -5.74648166e-04 -2.22522520e-02 7.26818766e+00] [ 6.11370400e-04 9.99998463e-01 1.64350256e-03 -4.07595144e-01] [ 2.22512734e-02 -1.65669971e-03 9.99751037e-01 -8.46190439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322414037 meters 0.08407699041253648 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.41, Z:-0.09 [[ 9.99649734e-01 -2.07831472e-03 -2.63835293e-02 7.32864736e+00] [ 2.13045281e-03 9.99995833e-01 1.94820471e-03 -4.09701285e-01] [ 2.63793704e-02 -2.00373118e-03 9.99649996e-01 -8.83339329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382414037 meters 0.08541483465704948 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.42, Z:-0.09 [[ 9.99641502e-01 -3.29122696e-03 -2.65713132e-02 7.38782447e+00] [ 3.34451154e-03 9.99992484e-01 1.96114949e-03 -4.18214175e-01] [ 2.65646589e-02 -2.04931448e-03 9.99644997e-01 -9.15732620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442414037 meters 0.08522597766341354 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.42, Z:-0.09 [[ 9.99714070e-01 -2.40731368e-03 -2.37904128e-02 7.44815254e+00] [ 2.44976765e-03 9.99995458e-01 1.75551543e-03 -4.16626404e-01] [ 2.37860787e-02 -1.81329445e-03 9.99715427e-01 -8.68399627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502414037 meters 0.08399402481791125 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.41, Z:-0.09 [[ 9.99689544e-01 -1.45607535e-03 -2.48735991e-02 7.50716705e+00] [ 1.50203708e-03 9.99997199e-01 1.82922828e-03 -4.13752571e-01] [ 2.48708660e-02 -1.86602146e-03 9.99688931e-01 -8.66261772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562414037 meters 0.08329602815667625 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.42, Z:-0.09 [[ 9.99721702e-01 -6.49921131e-04 -2.35816763e-02 7.56614232e+00] [ 6.90883623e-04 9.99998267e-01 1.72894184e-03 -4.17039447e-01] [ 2.35805117e-02 -1.74475288e-03 9.99720419e-01 -8.89430524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622414037 meters 0.08287313403054519 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.42, Z:-0.09 [[ 9.99752243e-01 2.06890306e-03 -2.21624097e-02 7.62623443e+00] [-2.03339434e-03 9.99996613e-01 1.62462058e-03 -4.16616733e-01] [ 2.21656958e-02 -1.57915315e-03 9.99753064e-01 -8.81736708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682414037 meters 0.08134983613235877 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.41, Z:-0.09 [[ 9.99669697e-01 5.25676609e-03 -2.51567691e-02 7.68622539e+00] [-5.21203725e-03 9.99984718e-01 1.84324388e-03 -4.12765278e-01] [ 2.51660742e-02 -1.71151703e-03 9.99681819e-01 -8.92353371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742414037 meters 0.08082663985723017 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.41, Z:-0.09 [[ 9.99668177e-01 1.01405986e-02 -2.36792018e-02 7.74624097e+00] [-1.01023501e-02 9.99947466e-01 1.73435026e-03 -4.13723132e-01] [ 2.36955452e-02 -1.49455918e-03 9.99718104e-01 -8.97570690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802414037 meters 0.08024997689622972 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.42, Z:-0.09 [[ 9.99655527e-01 1.24448266e-02 -2.31074280e-02 7.80616316e+00] [-1.24090253e-02 9.99921573e-01 1.69209062e-03 -4.16942153e-01] [ 2.31266736e-02 -1.40476709e-03 9.99731556e-01 -8.95139846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862414037 meters 0.08016647126943884 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.42, Z:-0.09 [[ 9.99692782e-01 1.37417971e-02 -2.06277430e-02 7.86631962e+00] [-1.37135511e-02 9.99904824e-01 1.51016114e-03 -4.18747415e-01] [ 2.06465321e-02 -1.22681759e-03 9.99786085e-01 -8.87032558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922414037 meters 0.08037673716282323 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.43, Z:-0.09 [[ 9.99737564e-01 1.22833432e-02 -1.93370756e-02 7.92493126e+00] [-1.22582764e-02 9.99923864e-01 1.41430786e-03 -4.26127901e-01] [ 1.93529758e-02 -1.17689748e-03 9.99812021e-01 -8.89433994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982414037 meters 0.07978941708177253 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.43, Z:-0.09 [[ 9.99790705e-01 1.05401684e-02 -1.75342772e-02 7.98344269e+00] [-1.05193127e-02 9.99943850e-01 1.28123458e-03 -4.32764196e-01] [ 1.75467971e-02 -1.09651788e-03 9.99845442e-01 -8.65571763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042414036999999 meters 0.07955732398833547 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.44, Z:-0.09 [[ 9.99685124e-01 9.77573119e-03 -2.31103530e-02 8.04371081e+00] [-9.73930159e-03 9.99951147e-01 1.68836461e-03 -4.35518102e-01] [ 2.31257290e-02 -1.46275428e-03 9.99731494e-01 -8.83303356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102414036999999 meters 0.08053509602670383 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.44, Z:-0.09 [[ 9.99689948e-01 8.02501209e-03 -2.35713177e-02 8.10295995e+00] [-7.98664933e-03 9.99966625e-01 1.72121077e-03 -4.44634925e-01] [ 2.35843437e-02 -1.53242126e-03 9.99720676e-01 -9.01359207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162414037 meters 0.08040211291420446 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.46, Z:-0.09 [[ 9.99802303e-01 5.67815792e-03 -1.90555508e-02 8.16127504e+00] [-5.65269043e-03 9.99983057e-01 1.39008353e-03 -4.58824182e-01] [ 1.90631211e-02 -1.28209358e-03 9.99817460e-01 -9.08928688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222414036999998 meters 0.08133681238982923 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.47, Z:-0.09 [[ 9.99803969e-01 3.48318265e-03 -1.94907753e-02 8.22135888e+00] [-3.45612157e-03 9.99993017e-01 1.42191681e-03 -4.66084348e-01] [ 1.94955920e-02 -1.35427558e-03 9.99809026e-01 -8.92999003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282414036999999 meters 0.08299789601012382 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.48, Z:-0.09 [[ 9.99756255e-01 1.98952553e-03 -2.19880206e-02 8.27986403e+00] [-1.95474200e-03 9.99996804e-01 1.60331056e-03 -4.77143623e-01] [ 2.19911402e-02 -1.55993885e-03 9.99756949e-01 -9.13620820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342414037 meters 0.08448048015377115 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.49, Z:-0.10 [[ 9.99730399e-01 1.06534191e-04 -2.32188942e-02 8.33900388e+00] [-6.72512788e-05 9.99998565e-01 1.69262541e-03 -4.92242392e-01] [ 2.32190413e-02 -1.69060757e-03 9.99728972e-01 -9.59023148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402414037 meters 0.08587924439155567 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.50, Z:-0.10 [[ 9.99733991e-01 -1.09345116e-03 -2.30380475e-02 8.39689607e+00] [ 1.13240513e-03 9.99997951e-01 1.67787546e-03 -5.01423405e-01] [ 2.30361656e-02 -1.70351753e-03 9.99733181e-01 -9.59821944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462414036999999 meters 0.08667152698579476 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.51, Z:-0.10 [[ 9.99730606e-01 -9.31327057e-04 -2.31915342e-02 8.45555107e+00] [ 9.70631388e-04 9.99998112e-01 1.68357156e-03 -5.07713351e-01] [ 2.31899225e-02 -1.70562844e-03 9.99729623e-01 -9.70410884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522414036999999 meters 0.08902766279364037 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.52, Z:-0.10 [[ 9.99722489e-01 -3.48177988e-03 -2.32985517e-02 8.51502621e+00] [ 3.52214280e-03 9.99992366e-01 1.69161036e-03 -5.23813212e-01] [ 2.32924841e-02 -1.77320175e-03 9.99727121e-01 -1.00524801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582414037 meters 0.08727450703147879 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.53, Z:-0.10 [[ 9.99672506e-01 -9.49504290e-03 -2.37639520e-02 8.57501705e+00] [ 9.53871853e-03 9.99953017e-01 1.72521212e-03 -5.26130519e-01] [ 2.37464545e-02 -1.95132477e-03 9.99716109e-01 -9.68151448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642414037 meters 0.08966078758086755 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.54, Z:-0.10 [[ 9.99653592e-01 -1.27278449e-02 -2.30369017e-02 8.63334838e+00] [ 1.27697291e-02 9.99917066e-01 1.67193600e-03 -5.36225438e-01] [ 2.30137110e-02 -1.96553183e-03 9.99733217e-01 -9.72583007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702414036999999 meters 0.0951798683056287 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.55, Z:-0.10 [[ 9.99613593e-01 -1.42251925e-02 -2.38811174e-02 8.69066496e+00] [ 1.42705889e-02 9.99896671e-01 1.73158017e-03 -5.53514973e-01] [ 2.38540177e-02 -2.07170869e-03 9.99713306e-01 -1.01157129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762414037 meters 0.08545262078111182 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.54, Z:-0.10 [[ 9.99637861e-01 -1.41398042e-02 -2.28956754e-02 8.75091076e+00] [ 1.41813724e-02 9.99898071e-01 1.65419196e-03 -5.38384529e-01] [ 2.28699518e-02 -1.97828502e-03 9.99736491e-01 -9.53631796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822414037 meters 0.08854984788709062 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.55, Z:-0.10 [[ 9.99701404e-01 -1.21465261e-02 -2.12029402e-02 8.80903491e+00] [ 1.21817095e-02 9.99924628e-01 1.53098948e-03 -5.47991979e-01] [ 2.11827459e-02 -1.78882039e-03 9.99774020e-01 -9.65279791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882414036999998 meters 0.0877201399169764 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.55, Z:-0.10 [[ 9.99645237e-01 -9.48200361e-03 -2.48896089e-02 8.86933399e+00] [ 9.52966072e-03 9.99952977e-01 1.79682244e-03 -5.47992969e-01] [ 2.48714010e-02 -2.03337453e-03 9.99688591e-01 -9.82952062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942414036999999 meters 0.08817322559710417 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.55, Z:-0.10 [[ 9.99629647e-01 -6.66987570e-03 -2.63833579e-02 8.92789830e+00] [ 6.72243022e-03 9.99975592e-01 1.90376266e-03 -5.53347383e-01] [ 2.63700160e-02 -2.08041788e-03 9.99650086e-01 -1.01848343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002414037 meters 0.08349787163487078 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.54, Z:-0.10 [[ 9.99754788e-01 7.27989170e-04 -2.21322134e-02 8.98898799e+00] [-6.92818052e-04 9.99998485e-01 1.59676320e-03 -5.42528508e-01] [ 2.21333423e-02 -1.58103805e-03 9.99753777e-01 -9.63715993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062414037 meters 0.08149964062858263 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.54, Z:-0.10 [[ 9.99665754e-01 1.15724518e-02 -2.31183598e-02 9.04974862e+00] [-1.15369708e-02 9.99932056e-01 1.66754621e-03 -5.35831980e-01] [ 2.31360867e-02 -1.40027300e-03 9.99731344e-01 -9.85684194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122414036999999 meters 0.07875765251060415 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.53, Z:-0.10 [[ 9.99512862e-01 2.19384237e-02 -2.21978660e-02 9.11050873e+00] [-2.19082608e-02 9.99758703e-01 1.60112462e-03 -5.31122006e-01] [ 2.22276359e-02 -1.11402801e-03 9.99752315e-01 -1.00038884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182414037 meters 0.07660601058725228 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.53, Z:-0.10 [[ 9.99300450e-01 3.11393307e-02 -2.07111626e-02 9.17165435e+00] [-3.11150465e-02 9.99514693e-01 1.49381207e-03 -5.27158462e-01] [ 2.07476277e-02 -8.48338286e-04 9.99784385e-01 -9.77178451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242414037 meters 0.07534629212636992 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.52, Z:-0.10 [[ 9.99153046e-01 3.41794927e-02 -2.29118680e-02 9.23121332e+00] [-3.41506952e-02 9.99415338e-01 1.64709922e-03 -5.24569529e-01] [ 2.29547693e-02 -8.63247977e-04 9.99736132e-01 -9.69899923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302414036999998 meters 0.07497200863436661 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.53, Z:-0.10 [[ 9.98902283e-01 3.98089223e-02 -2.46876256e-02 9.28967311e+00] [-3.97772291e-02 9.99206999e-01 1.77371505e-03 -5.30404882e-01] [ 2.47386579e-02 -7.89762677e-04 9.99693641e-01 -1.00923812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362414036999999 meters 0.07424405943227592 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.53, Z:-0.10 [[ 9.98816420e-01 4.21832252e-02 -2.42143506e-02 9.34906799e+00] [-4.21535713e-02 9.99109638e-01 1.73400225e-03 -5.32012344e-01] [ 2.42659369e-02 -7.11228565e-04 9.99705286e-01 -9.88574067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422414037 meters 0.07412674652679584 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.54, Z:-0.10 [[ 9.98728012e-01 4.50127084e-02 -2.27203351e-02 9.40723310e+00] [-4.49873497e-02 9.98986233e-01 1.62627864e-03 -5.39904765e-01] [ 2.27705052e-02 -6.02082367e-04 9.99740537e-01 -9.82876764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482414037 meters 0.07424133615897376 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.55, Z:-0.10 [[ 9.98669709e-01 4.48473318e-02 -2.54466037e-02 9.46516576e+00] [-4.48156256e-02 9.98993626e-01 1.81520652e-03 -5.49498440e-01] [ 2.55024021e-02 -6.72386299e-04 9.99674535e-01 -1.00396145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542414036999999 meters 0.07399417661658658 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.56, Z:-0.10 [[ 9.98754249e-01 4.28356349e-02 -2.55941142e-02 9.52400055e+00] [-4.28030629e-02 9.99081872e-01 1.81937791e-03 -5.55508376e-01] [ 2.56485497e-02 -7.21604938e-04 9.99670761e-01 -9.81777488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602414036999999 meters 0.07439223264006653 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.57, Z:-0.10 [[ 9.98779146e-01 4.07759005e-02 -2.78844768e-02 9.58187097e+00] [-4.07364682e-02 9.99167962e-01 1.98097948e-03 -5.72966466e-01] [ 2.79420521e-02 -8.42645894e-04 9.99609189e-01 -1.01845299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662414037 meters 0.07426384203388675 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.58, Z:-0.10 [[ 9.98851412e-01 3.91201636e-02 -2.76671092e-02 9.64051918e+00] [-3.90809054e-02 9.99234130e-01 1.95846677e-03 -5.79927888e-01] [ 2.77225354e-02 -8.74961622e-04 9.99615274e-01 -1.01042223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722414036999998 meters 0.07436779833447413 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.59, Z:-0.10 [[ 9.98988317e-01 3.69160081e-02 -2.56817095e-02 9.69786500e+00] [-3.68816448e-02 9.99318000e-01 1.81059342e-03 -5.89105173e-01] [ 2.57310344e-02 -8.61577981e-04 9.99668531e-01 -9.93160565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782414036999999 meters 0.07621088140590059 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.61, Z:-0.11 [[ 9.99183566e-01 3.13384706e-02 -2.54970737e-02 9.75560077e+00] [-3.13027880e-02 9.99508331e-01 1.79750610e-03 -6.10971549e-01] [ 2.55408687e-02 -9.97909069e-04 9.99673281e-01 -1.05054220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842414037 meters 0.07723136576831717 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.62, Z:-0.10 [[ 9.99336196e-01 2.48590259e-02 -2.66307368e-02 9.81503618e+00] [-2.48178141e-02 9.99690229e-01 1.87697954e-03 -6.22343815e-01] [ 2.66691473e-02 -1.21481691e-03 9.99643577e-01 -1.03386721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902414037 meters 0.07761266269116025 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.63, Z:-0.10 [[ 9.99430760e-01 1.97409571e-02 -2.73578301e-02 9.87486438e+00] [-1.96955524e-02 9.99804165e-01 1.92815636e-03 -6.30521880e-01] [ 2.73905361e-02 -1.38823120e-03 9.99623845e-01 -1.02767301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962414036999999 meters 0.07995319698314711 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.65, Z:-0.11 [[ 9.99583325e-01 1.22138634e-02 -2.61533434e-02 9.93269278e+00] [-1.21697922e-02 9.99924246e-01 1.84362200e-03 -6.50425367e-01] [ 2.61738800e-02 -1.52457305e-03 9.99656243e-01 -1.05956114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022414036999999 meters 0.0812496886123187 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.66, Z:-0.11 [[ 9.99634548e-01 6.30367887e-03 -2.62875334e-02 9.99253028e+00] [-6.25712454e-03 9.99978707e-01 1.85284758e-03 -6.61179370e-01] [ 2.62986535e-02 -1.68768608e-03 9.99652706e-01 -1.06000788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082414037 meters 0.08329168158491937 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.67, Z:-0.11 [[ 9.99640217e-01 2.50720089e-03 -2.67048741e-02 1.00509781e+01] [-2.45782138e-03 9.99995209e-01 1.88174542e-03 -6.72005526e-01] [ 2.67094641e-02 -1.81543259e-03 9.99641590e-01 -1.06450204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142414036999998 meters 0.08449921939453786 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.68, Z:-0.11 [[ 9.99617454e-01 5.56420429e-04 -2.76520675e-02 1.01107477e+01] [-5.02744413e-04 9.99997976e-01 1.94803564e-03 -6.80190465e-01] [ 2.76530954e-02 -1.93338850e-03 9.99615710e-01 -1.07505229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202414036999999 meters 0.08660197798939974 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.69, Z:-0.11 [[ 9.99600746e-01 -1.78606930e-03 -2.81985694e-02 1.01696298e+01] [ 1.84278957e-03 9.99996331e-01 1.98559988e-03 -6.87712280e-01] [ 2.81949195e-02 -2.03677115e-03 9.99600369e-01 -1.09111344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262414037 meters 0.08213755044801122 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.68, Z:-0.11 [[ 9.99628177e-01 -3.30995944e-03 -2.70656873e-02 1.02287807e+01] [ 3.36257998e-03 9.99992544e-01 1.89889636e-03 -6.80639715e-01] [ 2.70592002e-02 -1.98920084e-03 9.99631854e-01 -1.05946542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322414037 meters 0.08423386436371497 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.69, Z:-0.11 [[ 9.99608688e-01 -6.73926019e-03 -2.71487092e-02 1.02881873e+01] [ 6.79347072e-03 9.99975109e-01 1.90505964e-03 -6.86303106e-01] [ 2.71351947e-02 -2.08874813e-03 9.99629591e-01 -1.06216370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382414036999998 meters 0.08552846539879529 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.69, Z:-0.11 [[ 9.99507918e-01 -8.43669047e-03 -3.02116576e-02 1.03488035e+01] [ 8.50458351e-03 9.99961589e-01 2.11945164e-03 -6.85760518e-01] [ 3.01926160e-02 -2.37534627e-03 9.99541277e-01 -1.07168788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442414036999999 meters 0.08545768092371268 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.69, Z:-0.11 [[ 9.99528409e-01 -9.50590046e-03 -2.91992883e-02 1.04079003e+01] [ 9.56955725e-03 9.99952128e-01 2.04110934e-03 -6.87519560e-01] [ 2.91784879e-02 -2.31957103e-03 9.99571526e-01 -1.07994750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502414037 meters 0.08675306459159378 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.69, Z:-0.11 [[ 9.99588763e-01 -9.90491259e-03 -2.69109104e-02 1.04652556e+01] [ 9.95906568e-03 9.99948642e-01 1.87902427e-03 -6.90613858e-01] [ 2.68909168e-02 -2.14625907e-03 9.99636070e-01 -1.07137379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562414036999998 meters 0.08305991355574546 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.68, Z:-0.10 [[ 9.99530177e-01 -8.71331666e-03 -2.93854213e-02 1.05249011e+01] [ 8.77715889e-03 9.99959390e-01 2.04429146e-03 -6.78229320e-01] [ 2.93664154e-02 -2.30125152e-03 9.99566065e-01 -1.04369685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622414036999999 meters 0.08482429335192027 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.68, Z:-0.11 [[ 9.99539672e-01 -2.85230474e-03 -3.02044548e-02 1.05838708e+01] [ 2.91707645e-03 9.99993539e-01 2.10059486e-03 -6.83426388e-01] [ 3.01982681e-02 -2.18773660e-03 9.99541534e-01 -1.10746066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682414037 meters 0.08442420957174146 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.69, Z:-0.11 [[ 9.99551146e-01 -5.97843713e-04 -2.99524535e-02 1.06442568e+01] [ 6.60517281e-04 9.99997613e-01 2.08258465e-03 -6.85411789e-01] [ 2.99511369e-02 -2.10143398e-03 9.99549155e-01 -1.11135632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742414037 meters 0.08097457321667681 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.67, Z:-0.11 [[ 9.99616951e-01 7.01166372e-03 -2.67728989e-02 1.07055460e+01] [-6.96431469e-03 9.99974016e-01 1.86137931e-03 -6.71737948e-01] [ 2.67852546e-02 -1.67421141e-03 9.99639809e-01 -1.05470447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802414036999998 meters 0.07964950376003374 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.67, Z:-0.11 [[ 9.99500106e-01 1.44275257e-02 -2.81315415e-02 1.07663644e+01] [-1.43781829e-02 9.99894716e-01 1.95550478e-03 -6.66025479e-01] [ 2.81567928e-02 -1.55004679e-03 9.99602317e-01 -1.06775494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862414036999999 meters 0.07844309219683765 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.66, Z:-0.11 [[ 9.99375108e-01 2.07743260e-02 -2.85975586e-02 1.08272396e+01] [-2.07259294e-02 9.99783219e-01 1.98774264e-03 -6.62568649e-01] [ 2.86326532e-02 -1.39378954e-03 9.99589030e-01 -1.09556337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922414037 meters 0.07814195995697135 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.66, Z:-0.11 [[ 9.99247348e-01 2.42336629e-02 -3.02897177e-02 1.08864958e+01] [-2.41809840e-02 9.99705383e-01 2.10431451e-03 -6.61210104e-01] [ 3.03317891e-02 -1.37029552e-03 9.99538946e-01 -1.11545308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982414037 meters 0.07727109568181349 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.66, Z:-0.11 [[ 9.99122084e-01 2.83772133e-02 -3.08187326e-02 1.09465634e+01] [-2.83246762e-02 9.99596485e-01 2.14003622e-03 -6.57419718e-01] [ 3.08670250e-02 -1.26522683e-03 9.99522699e-01 -1.11024893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042414036999999 meters 0.07621537297583098 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.66, Z:-0.11 [[ 9.99135550e-01 2.97238933e-02 -2.90627317e-02 1.10058631e+01] [-2.96779416e-02 9.99557489e-01 2.01129405e-03 -6.57678327e-01] [ 2.91096546e-02 -1.14703334e-03 9.99575566e-01 -1.08288795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102414036999999 meters 0.0772548395670084 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.67, Z:-0.11 [[ 9.99296113e-01 2.74084634e-02 -2.56135561e-02 1.10635279e+01] [-2.73720681e-02 9.99623747e-01 1.77053204e-03 -6.67142476e-01] [ 2.56524465e-02 -1.06818978e-03 9.99670351e-01 -1.08021507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162414037 meters 0.07760178188341799 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.67, Z:-0.11 [[ 9.99301891e-01 2.54529736e-02 -2.73473422e-02 1.11223251e+01] [-2.54107880e-02 9.99675309e-01 1.88905923e-03 -6.73309666e-01] [ 2.73865450e-02 -1.19282295e-03 9.99624207e-01 -1.08920877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222414036999998 meters 0.07716442530129841 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.68, Z:-0.11 [[ 9.99296789e-01 2.23177816e-02 -3.01304449e-02 1.11824084e+01] [-2.22651618e-02 9.99749935e-01 2.08081910e-03 -6.77236667e-01] [ 3.01693496e-02 -1.40849661e-03 9.99543809e-01 -1.08319299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282414036999999 meters 0.07879415406049 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.69, Z:-0.11 [[ 9.99393510e-01 1.84573767e-02 -2.95285831e-02 1.12407317e+01] [-1.84051632e-02 9.99828531e-01 2.03908282e-03 -6.90108933e-01] [ 2.95611560e-02 -1.49436775e-03 9.99561856e-01 -1.11055347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342414037 meters 0.07942534094881605 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.70, Z:-0.11 [[ 9.99591084e-01 1.42208806e-02 -2.48078737e-02 1.12994822e+01] [-1.41827525e-02 9.99897954e-01 1.71221660e-03 -7.02296450e-01] [ 2.48296914e-02 -1.35967251e-03 9.99690771e-01 -1.07774517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402414037 meters 0.07938754386293595 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.71, Z:-0.11 [[ 9.99631055e-01 1.13749902e-02 -2.46650432e-02 1.13597122e+01] [-1.13364356e-02 9.99934291e-01 1.70239850e-03 -7.07507004e-01] [ 2.46827872e-02 -1.42215673e-03 9.99694322e-01 -1.05095747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462414036999999 meters 0.08035780237363163 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.72, Z:-0.11 [[ 9.99651305e-01 7.72587879e-03 -2.52503125e-02 1.14191536e+01] [-7.68432386e-03 9.99968957e-01 1.74233808e-03 -7.15952373e-01] [ 2.52629898e-02 -1.54769896e-03 9.99679642e-01 -1.05291462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522414036999999 meters 0.08324608755554981 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.73, Z:-0.11 [[ 9.99549975e-01 1.69765934e-03 -2.99493927e-02 1.14775741e+01] [-1.63649407e-03 9.99996525e-01 2.06668064e-03 -7.31117917e-01] [ 2.99527972e-02 -2.01673857e-03 9.99549280e-01 -1.11833311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582414037 meters 0.08622419471199338 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.74, Z:-0.11 [[ 9.99569855e-01 -5.65490998e-03 -2.87771939e-02 1.15370054e+01] [ 5.71440446e-03 9.99981701e-01 1.98559791e-03 -7.44383321e-01] [ 2.87654390e-02 -2.14918834e-03 9.99583879e-01 -1.12043862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642414036999998 meters 0.08825210099918868 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.75, Z:-0.11 [[ 9.99605310e-01 -8.15134175e-03 -2.68845481e-02 1.15954309e+01] [ 8.20412546e-03 9.99964628e-01 1.85362806e-03 -7.51861521e-01] [ 2.68684875e-02 -2.07346066e-03 9.99636827e-01 -1.10152582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702414036999999 meters 0.08871536321624632 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.76, Z:-0.11 [[ 9.99528000e-01 -1.11115174e-02 -2.86410887e-02 1.16555272e+01] [ 1.11726324e-02 9.99935634e-01 1.97467061e-03 -7.57486731e-01] [ 2.86173036e-02 -2.29373492e-03 9.99587809e-01 -1.11498903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762414037 meters 0.09002360237176024 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.76, Z:-0.11 [[ 9.99488832e-01 -1.34266357e-02 -2.90137907e-02 1.17158365e+01] [ 1.34903212e-02 9.99907001e-01 2.00037184e-03 -7.64689637e-01] [ 2.89842341e-02 -2.39075467e-03 9.99577010e-01 -1.12770634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822414037 meters 0.0852096673824112 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.75, Z:-0.11 [[ 9.99468846e-01 -1.55003038e-02 -2.86664644e-02 1.17766740e+01] [ 1.55632907e-02 9.99876933e-01 1.97540713e-03 -7.53338005e-01] [ 2.86323171e-02 -2.42050240e-03 9.99587081e-01 -1.07935366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882414036999998 meters 0.08717395977540696 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.76, Z:-0.11 [[ 9.99488515e-01 -1.75345615e-02 -2.67440947e-02 1.18345983e+01] [ 1.75900655e-02 9.99843587e-01 1.84151111e-03 -7.62625333e-01] [ 2.67076215e-02 -2.31099958e-03 9.99640617e-01 -1.07836265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942414036999999 meters 0.08728059071344464 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.77, Z:-0.11 [[ 9.99428352e-01 -1.88320127e-02 -2.80771028e-02 1.18941051e+01] [ 1.88936709e-02 9.99819631e-01 1.93233676e-03 -7.67878561e-01] [ 2.80356488e-02 -2.46171168e-03 9.99603893e-01 -1.09938946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002414037 meters 0.08972293566533376 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.77, Z:-0.11 [[ 9.99341310e-01 -1.90546884e-02 -3.08846961e-02 1.19522224e+01] [ 1.91293394e-02 9.99814763e-01 2.12339259e-03 -7.71446238e-01] [ 3.08385145e-02 -2.71279776e-03 9.99520699e-01 -1.13288399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062414036999998 meters 0.0893971436013865 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.77, Z:-0.11 [[ 9.99453123e-01 -1.63189871e-02 -2.87601530e-02 1.20124849e+01] [ 1.63825945e-02 9.99863841e-01 1.97738977e-03 -7.70322888e-01] [ 2.87239680e-02 -2.44747431e-03 9.99584385e-01 -1.11285083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122414036999999 meters 0.0897719610800221 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.77, Z:-0.11 [[ 9.99454471e-01 -1.63556934e-02 -2.86923658e-02 1.20708424e+01] [ 1.64188145e-02 9.99863270e-01 1.96569589e-03 -7.72341542e-01] [ 2.86562924e-02 -2.43571818e-03 9.99586357e-01 -1.14249131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182414037 meters 0.09036742130946027 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.77, Z:-0.11 [[ 9.99398768e-01 -1.91704121e-02 -2.88894041e-02 1.21317831e+01] [ 1.92355743e-02 9.99813020e-01 1.97932942e-03 -7.71435099e-01] [ 2.88460578e-02 -2.53384366e-03 9.99580654e-01 -1.13536978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242414037 meters 0.0899420255077494 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.77, Z:-0.11 [[ 9.99425317e-01 -2.22156294e-02 -2.56027801e-02 1.21918180e+01] [ 2.22677831e-02 9.99750504e-01 1.75369545e-03 -7.70452406e-01] [ 2.55574328e-02 -2.32280478e-03 9.99670657e-01 -1.08674127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302414036999998 meters 0.09169715840320489 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.77, Z:-0.11 [[ 9.99251414e-01 -2.54878211e-02 -2.91029650e-02 1.22523355e+01] [ 2.55565940e-02 9.99671389e-01 1.99351391e-03 -7.74301618e-01] [ 2.90425912e-02 -2.73579426e-03 9.99574431e-01 -1.12104138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362414036999999 meters 0.09390912349214026 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.78, Z:-0.12 [[ 9.99090638e-01 -2.84121273e-02 -3.17906864e-02 1.23128729e+01] [ 2.84956644e-02 9.99591544e-01 2.17765961e-03 -7.78174087e-01] [ 3.17158294e-02 -3.08157606e-03 9.99492176e-01 -1.16345831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422414037 meters 0.09057484774225562 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.77, Z:-0.11 [[ 9.99168770e-01 -2.99175785e-02 -2.76894893e-02 1.23712651e+01] [ 2.99812910e-02 9.99548676e-01 1.88857319e-03 -7.68948831e-01] [ 2.76204909e-02 -2.71716998e-03 9.99614789e-01 -1.09476096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482414037 meters 0.0915774230540019 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.77, Z:-0.11 [[ 9.99256817e-01 -2.82447982e-02 -2.62306278e-02 1.24297973e+01] [ 2.83013717e-02 9.99597837e-01 1.78796097e-03 -7.72184866e-01] [ 2.61695782e-02 -2.52899493e-03 9.99654319e-01 -1.08441750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542414036999999 meters 0.09358655893559603 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.78, Z:-0.11 [[ 9.99274465e-01 -2.77940695e-02 -2.60390906e-02 1.24869291e+01] [ 2.78496090e-02 9.99610553e-01 1.77263918e-03 -7.77912925e-01] [ 2.59796809e-02 -2.49653156e-03 9.99659354e-01 -1.09455459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602414036999999 meters 0.0936991603613617 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.78, Z:-0.11 [[ 9.99264635e-01 -2.64389679e-02 -2.77699360e-02 1.25454776e+01] [ 2.65015701e-02 9.99646988e-01 1.88862976e-03 -7.78395893e-01] [ 2.77101994e-02 -2.62318783e-03 9.99612557e-01 -1.10643233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662414037 meters 0.09152712751359975 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.77, Z:-0.11 [[ 9.99282557e-01 -2.28829090e-02 -3.01785241e-02 1.26064248e+01] [ 2.29552392e-02 9.99734387e-01 2.05242531e-03 -7.72798747e-01] [ 3.01235429e-02 -2.74370805e-03 9.99542417e-01 -1.12583279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722414036999998 meters 0.09175129034286153 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.77, Z:-0.11 [[ 9.99432201e-01 -1.91643529e-02 -2.77128728e-02 1.26660201e+01] [ 1.92239115e-02 9.99813428e-01 1.88427933e-03 -7.72782083e-01] [ 2.76715914e-02 -2.41595925e-03 9.99614149e-01 -1.12706013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782414036999999 meters 0.09170349437555197 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.77, Z:-0.11 [[ 9.99490493e-01 -1.77004294e-02 -2.65603031e-02 1.27262259e+01] [ 1.77546105e-02 9.99840744e-01 1.80547408e-03 -7.73530642e-01] [ 2.65241155e-02 -2.27612202e-03 9.99645582e-01 -1.11165871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842414037 meters 0.09347869881456435 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.78, Z:-0.11 [[ 9.99485646e-01 -1.77365792e-02 -2.67181238e-02 1.27831229e+01] [ 1.77913352e-02 9.99840078e-01 1.81305573e-03 -7.76802559e-01] [ 2.66816935e-02 -2.28747427e-03 9.99641363e-01 -1.13986908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902414037 meters 0.09547350008029643 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.78, Z:-0.12 [[ 9.99347501e-01 -1.91537164e-02 -3.06220100e-02 1.28438265e+01] [ 1.92263107e-02 9.99812998e-01 2.07794625e-03 -7.79968052e-01] [ 3.05764833e-02 -2.66533867e-03 9.99528876e-01 -1.19938481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962414036999999 meters 0.091092297261081 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.77, Z:-0.12 [[ 9.99343461e-01 -1.93890940e-02 -3.06057153e-02 1.29029224e+01] [ 1.94614603e-02 9.99808468e-01 2.06833012e-03 -7.70314045e-01] [ 3.05597503e-02 -2.66260410e-03 9.99529395e-01 -1.16523795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022414036999999 meters 0.0882421412343668 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.76, Z:-0.12 [[ 9.99379270e-01 -1.69658028e-02 -3.08745199e-02 1.29633804e+01] [ 1.70382744e-02 9.99852663e-01 2.08570665e-03 -7.61532036e-01] [ 3.08345853e-02 -2.61046053e-03 9.99521092e-01 -1.15583375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082414037 meters 0.08800841154920432 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.76, Z:-0.12 [[ 9.99479752e-01 -1.42120180e-02 -2.89524384e-02 1.30244516e+01] [ 1.42746095e-02 9.99896199e-01 1.95632491e-03 -7.61730234e-01] [ 2.89216297e-02 -2.36859189e-03 9.99578876e-01 -1.15533962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142414036999998 meters 0.08613007589031417 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.75, Z:-0.11 [[ 9.99554774e-01 -7.11806271e-03 -2.89756163e-02 1.30852941e+01] [ 7.17778872e-03 9.99972323e-01 1.95775922e-03 -7.51897709e-01] [ 2.89608789e-02 -2.16486843e-03 9.99578201e-01 -1.12750999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202414036999999 meters 0.08439436712186942 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.75, Z:-0.11 [[ 9.99580092e-01 -2.91125263e-03 -2.88299112e-02 1.31459197e+01] [ 2.96863656e-03 9.99993697e-01 1.94782869e-03 -7.49026800e-01] [ 2.88240588e-02 -2.03259631e-03 9.99582434e-01 -1.12289677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262414037 meters 0.0837957350009256 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.75, Z:-0.11 [[ 9.99615231e-01 4.55922930e-04 -2.77341281e-02 1.32059806e+01] [-4.04111802e-04 9.99998163e-01 1.87371239e-03 -7.49347658e-01] [ 2.77349314e-02 -1.86178375e-03 9.99613579e-01 -1.12808000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322414037 meters 0.08189171290197661 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.74, Z:-0.11 [[ 9.99587517e-01 3.57244874e-03 -2.84962111e-02 1.32668319e+01] [-3.51904171e-03 9.99991957e-01 1.92410989e-03 -7.41498529e-01] [ 2.85028557e-02 -1.82303687e-03 9.99592049e-01 -1.11519218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382414036999998 meters 0.08287561201844294 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.75, Z:-0.11 [[ 9.99552332e-01 8.23420352e-03 -2.87634039e-02 1.33265086e+01] [-8.18171344e-03 9.99964643e-01 1.94210788e-03 -7.47035571e-01] [ 2.87783786e-02 -1.70590454e-03 9.99584361e-01 -1.14810011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442414036999999 meters 0.07986337179574367 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.74, Z:-0.11 [[ 9.99483007e-01 1.25266830e-02 -2.96108253e-02 1.33874618e+01] [-1.24729382e-02 9.99920212e-01 1.99905708e-03 -7.39759198e-01] [ 2.96335043e-02 -1.62868959e-03 9.99559504e-01 -1.12489205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502414037 meters 0.07977743286601433 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.74, Z:-0.12 [[ 9.99378437e-01 1.79775306e-02 -3.03240364e-02 1.34468746e+01] [-1.79236850e-02 9.99837263e-01 2.04658257e-03 -7.36815891e-01] [ 3.03558941e-02 -1.50179202e-03 9.99538025e-01 -1.15109073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562414036999998 meters 0.08754982348471649 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.76, Z:-0.13 [[ 9.99467390e-01 2.07778770e-02 -2.51637730e-02 1.35048953e+01] [-2.07417017e-02 9.99783426e-01 1.69778090e-03 -7.58491280e-01] [ 2.51935995e-02 -1.17493717e-03 9.99681900e-01 -1.25816219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622414036999999 meters 0.07835813212577009 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.74, Z:-0.11 [[ 9.99380773e-01 2.09996358e-02 -2.82327182e-02 1.35653929e+01] [-2.09543761e-02 9.99778631e-01 1.89802840e-03 -7.37703222e-01] [ 2.82663263e-02 -1.30525410e-03 9.99599575e-01 -1.12918447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682414037 meters 0.07833235928461095 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.74, Z:-0.11 [[ 9.99414480e-01 1.97268847e-02 -2.79561566e-02 1.36244240e+01] [-1.96821945e-02 9.99804533e-01 1.87288297e-03 -7.39825806e-01] [ 2.79876382e-02 -1.32154785e-03 9.99607396e-01 -1.12515469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742414037 meters 0.07856919385554584 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.74, Z:-0.11 [[ 9.99370968e-01 1.85104815e-02 -3.02494619e-02 1.36831538e+01] [-1.84576384e-02 9.99827592e-01 2.02523329e-03 -7.44994575e-01] [ 3.02817347e-02 -1.46562573e-03 9.99540329e-01 -1.14035384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802414036999998 meters 0.07795155327492556 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.75, Z:-0.11 [[ 9.99390210e-01 2.02338138e-02 -2.84570102e-02 1.37426016e+01] [-2.01877735e-02 9.99794393e-01 1.90428841e-03 -7.47902738e-01] [ 2.84896903e-02 -1.32864352e-03 9.99593203e-01 -1.11418579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862414036999999 meters 0.07865061117375667 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.76, Z:-0.11 [[ 9.99390267e-01 2.01362909e-02 -2.85241042e-02 1.37992811e+01] [-2.00901464e-02 9.99796361e-01 1.90343094e-03 -7.55889026e-01] [ 2.85566236e-02 -1.32921693e-03 9.99591293e-01 -1.13129341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922414037 meters 0.0779101455750614 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.76, Z:-0.11 [[ 9.99358805e-01 2.18951472e-02 -2.83298846e-02 1.38580411e+01] [-2.18503833e-02 9.99759468e-01 1.88873752e-03 -7.58667416e-01] [ 2.83644245e-02 -1.26850763e-03 9.99596844e-01 -1.10657863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982414036999998 meters 0.0781760757328016 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.76, Z:-0.11 [[ 9.99263105e-01 2.58707218e-02 -2.83540506e-02 1.39168519e+01] [-2.58275036e-02 9.99664629e-01 1.88946780e-03 -7.64360019e-01] [ 2.83934234e-02 -1.15576112e-03 9.99596157e-01 -1.12558386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042414036999999 meters 0.07762426223137535 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.77, Z:-0.12 [[ 9.99128995e-01 2.78857817e-02 -3.10424489e-02 1.39746635e+01] [-2.78352024e-02 9.99610402e-01 2.06039232e-03 -7.68051125e-01] [ 3.10878105e-02 -1.19452486e-03 9.99515943e-01 -1.15298764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102414036999999 meters 0.07701599514267547 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.77, Z:-0.12 [[ 9.98990284e-01 3.17539868e-02 -3.17820233e-02 1.40344141e+01] [-3.17029453e-02 9.99495111e-01 2.10874833e-03 -7.69077998e-01] [ 3.18329381e-02 -1.09903535e-03 9.99492599e-01 -1.15840054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162414037 meters 0.0775752401811763 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.78, Z:-0.12 [[ 9.98969173e-01 3.31609071e-02 -3.09991195e-02 1.40917585e+01] [-3.31131033e-02 9.99449500e-01 2.05433265e-03 -7.77651815e-01] [ 3.10501781e-02 -1.02573794e-03 9.99517301e-01 -1.17561306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222414036999998 meters 0.07819731346030938 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.79, Z:-0.12 [[ 9.99062848e-01 3.13655857e-02 -2.98265865e-02 1.41485938e+01] [-3.13206131e-02 9.99507440e-01 1.97392249e-03 -7.86337763e-01] [ 2.98738084e-02 -1.03788565e-03 9.99553139e-01 -1.17177554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282414036999999 meters 0.07815811042234738 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.79, Z:-0.11 [[ 9.99188517e-01 2.79274275e-02 -2.90235621e-02 1.42075919e+01] [-2.78834513e-02 9.99609339e-01 1.91889112e-03 -7.91269824e-01] [ 2.90658135e-02 -1.10805689e-03 9.99576886e-01 -1.11013538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342414037 meters 0.08002753143608257 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.81, Z:-0.11 [[ 9.99258911e-01 2.27011351e-02 -3.10851636e-02 1.42675878e+01] [-2.26481601e-02 9.99741385e-01 2.05527313e-03 -8.06539824e-01] [ 3.11237816e-02 -1.34972823e-03 9.99514626e-01 -1.13906144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402414036999998 meters 0.07907803074447411 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.81, Z:-0.11 [[ 9.99217164e-01 2.02745203e-02 -3.39706062e-02 1.43274017e+01] [-2.02098690e-02 9.99793238e-01 2.24547895e-03 -8.10699978e-01] [ 3.40091084e-02 -1.55717961e-03 9.99420310e-01 -1.13824538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462414036999999 meters 0.07840412534682097 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.81, Z:-0.11 [[ 9.99235271e-01 1.77306218e-02 -3.48496538e-02 1.43864746e+01] [-1.76610994e-02 9.99841381e-01 2.30177309e-03 -8.14651101e-01] [ 3.48849379e-02 -1.68452965e-03 9.99389916e-01 -1.12924919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522414036999999 meters 0.07985102730464295 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.83, Z:-0.12 [[ 9.99276963e-01 1.78071849e-02 -3.35924880e-02 1.44436487e+01] [-1.77427294e-02 9.99840130e-01 2.21589036e-03 -8.25543304e-01] [ 3.36265764e-02 -1.61826576e-03 9.99433157e-01 -1.15142097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582414037 meters 0.07830008018303711 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.83, Z:-0.11 [[ 9.99365844e-01 1.77553229e-02 -3.08651539e-02 1.45026664e+01] [-1.77011018e-02 9.99841264e-01 2.02908259e-03 -8.29218422e-01] [ 3.08962816e-02 -1.48144860e-03 9.99521498e-01 -1.09269209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642414036999998 meters 0.08095495204216573 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.84, Z:-0.11 [[ 9.99449717e-01 1.64931608e-02 -2.87791303e-02 1.45593149e+01] [-1.64455664e-02 9.99862977e-01 1.88970791e-03 -8.43486429e-01] [ 2.88063541e-02 -1.41537894e-03 9.99584009e-01 -1.11161282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702414036999999 meters 0.07853378648219773 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.84, Z:-0.11 [[ 9.99406379e-01 1.57339076e-02 -3.06485363e-02 1.46193700e+01] [-1.56796000e-02 9.99875044e-01 2.01148937e-03 -8.41921768e-01] [ 3.06763551e-02 -1.52973852e-03 9.99528199e-01 -1.06570714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762414037 meters 0.07800448244442797 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.85, Z:-0.11 [[ 9.99227678e-01 1.64099480e-02 -3.57038064e-02 1.46783630e+01] [-1.63367327e-02 9.99863805e-01 2.34142100e-03 -8.48595031e-01] [ 3.57373663e-02 -1.75632913e-03 9.99359673e-01 -1.09414867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822414037 meters 0.07898162899464015 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.86, Z:-0.11 [[ 9.99085115e-01 1.96376450e-02 -3.79907357e-02 1.47358136e+01] [-1.95571941e-02 9.99805644e-01 2.48815266e-03 -8.56323838e-01] [ 3.80322134e-02 -1.74288410e-03 9.99274994e-01 -1.14310832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882414036999998 meters 0.07648098665418486 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.85, Z:-0.11 [[ 9.99004303e-01 2.74595930e-02 -3.51621054e-02 1.47964933e+01] [-2.73955375e-02 9.99622021e-01 2.30230682e-03 -8.52355084e-01] [ 3.52120353e-02 -1.33672964e-03 9.99378970e-01 -1.09209508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942414036999999 meters 0.07467690238779467 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.85, Z:-0.11 [[ 9.98752286e-01 3.75101758e-02 -3.29675360e-02 1.48573342e+01] [-3.74593440e-02 9.99295822e-01 2.15838178e-03 -8.50874337e-01] [ 3.30252822e-02 -9.20746462e-04 9.99454092e-01 -1.06889818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002414037 meters 0.07414383342142498 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.85, Z:-0.11 [[ 9.98492372e-01 4.36078558e-02 -3.33367340e-02 1.49171252e+01] [-4.35592925e-02 9.99048461e-01 2.18197550e-03 -8.53650697e-01] [ 3.34001641e-02 -7.26561346e-04 9.99441795e-01 -1.07611347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062414036999998 meters 0.07360778809250394 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.86, Z:-0.11 [[ 9.98256056e-01 4.84616191e-02 -3.37093230e-02 1.49764534e+01] [-4.84149886e-02 9.98824887e-01 2.19866822e-03 -8.55365472e-01] [ 3.37762618e-02 -5.62797374e-04 9.99429261e-01 -1.06355652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122414036999999 meters 0.07357603159833577 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.86, Z:-0.11 [[ 9.98063162e-01 5.07590733e-02 -3.59644349e-02 1.50352775e+01] [-5.07077968e-02 9.98710798e-01 2.33704717e-03 -8.60845797e-01] [ 3.60366959e-02 -5.08843428e-04 9.99350338e-01 -1.05476453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182414037 meters 0.07406349796094569 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.87, Z:-0.11 [[ 9.98361685e-01 4.52615238e-02 -3.50048672e-02 1.50929504e+01] [-4.52098651e-02 9.98974941e-01 2.26628361e-03 -8.74392334e-01] [ 3.50715605e-02 -6.80005394e-04 9.99384572e-01 -1.07558297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242414037 meters 0.07498541421376838 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.89, Z:-0.11 [[ 9.98740067e-01 3.84625436e-02 -3.22321435e-02 1.51495739e+01] [-3.84152915e-02 9.99259687e-01 2.08420683e-03 -8.89532577e-01] [ 3.22884455e-02 -8.43373680e-04 9.99478236e-01 -1.09371655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302414036999998 meters 0.07592568124855394 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.90, Z:-0.11 [[ 9.99131310e-01 2.75716428e-02 -3.12478785e-02 1.52086700e+01] [-2.75219268e-02 9.99619159e-01 2.02009381e-03 -9.04376236e-01] [ 3.12916753e-02 -1.15833715e-03 9.99509624e-01 -1.05276335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362414036999999 meters 0.07679271406660047 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.92, Z:-0.11 [[ 9.99262881e-01 2.23257703e-02 -3.12290668e-02 1.52685026e+01] [-2.22735734e-02 9.99749876e-01 2.01834435e-03 -9.15769365e-01] [ 3.12663167e-02 -1.32127368e-03 9.99510216e-01 -1.05183131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422414037 meters 0.0778926199964215 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.93, Z:-0.11 [[ 9.99402346e-01 1.45869854e-02 -3.13395929e-02 1.53277308e+01] [-1.45306282e-02 9.99892374e-01 2.02528476e-03 -9.31858143e-01] [ 3.13657627e-02 -1.56869037e-03 9.99506742e-01 -1.05888818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482414036999998 meters 0.07968303885878894 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.94, Z:-0.11 [[ 9.99510978e-01 9.19538750e-03 -2.98872748e-02 1.53866013e+01] [-9.14173638e-03 9.99956348e-01 1.93126438e-03 -9.43946863e-01] [ 2.99037289e-02 -1.65709836e-03 9.99551410e-01 -1.07435031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542414036999999 meters 0.07949355387076751 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.95, Z:-0.11 [[ 9.99609528e-01 6.72938447e-03 -2.71202261e-02 1.54447453e+01] [-6.68437273e-03 9.99976128e-01 1.75002808e-03 -9.49818352e-01] [ 2.71313553e-02 -1.56806304e-03 9.99630647e-01 -1.05155955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602414036999999 meters 0.0811102525439378 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.97, Z:-0.11 [[ 9.99671129e-01 2.79600350e-03 -2.54914808e-02 1.55036065e+01] [-2.75497266e-03 9.99994853e-01 1.64456806e-03 -9.66107484e-01] [ 2.54959478e-02 -1.57379887e-03 9.99673687e-01 -1.07459267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662414037 meters 0.08235136342668496 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.97, Z:-0.11 [[ 9.99572831e-01 -9.97693026e-06 -2.92259283e-02 1.55639088e+01] [ 6.51100270e-05 9.99998220e-01 1.88549363e-03 -9.74420575e-01] [ 2.92258575e-02 -1.88659110e-03 9.99571053e-01 -1.10153237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722414036999998 meters 0.08358332889599139 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.98, Z:-0.11 [[ 9.99594707e-01 -1.66116927e-03 -2.84193882e-02 1.56219719e+01] [ 1.71392252e-03 9.99996853e-01 1.83198323e-03 -9.81589223e-01] [ 2.84162556e-02 -1.87994937e-03 9.99594409e-01 -1.10434905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782414036999999 meters 0.08479656356059645 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.99, Z:-0.11 [[ 9.99656965e-01 -3.01763312e-03 -2.60162763e-02 1.56794892e+01] [ 3.06211167e-03 9.99993917e-01 1.66997356e-03 -9.91532225e-01] [ 2.60110787e-02 -1.74906545e-03 9.99660125e-01 -1.11209643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842414037 meters 0.0860164107906138 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.00, Z:-0.11 [[ 9.99675263e-01 -5.56899858e-03 -2.48667535e-02 1.57391127e+01] [ 5.61040396e-03 9.99982989e-01 1.59563279e-03 -9.97478721e-01] [ 2.48574444e-02 -1.73462716e-03 9.99689501e-01 -1.09908261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902414036999998 meters 0.08394432285341702 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.00, Z:-0.11 [[ 9.99629639e-01 -1.09381996e-02 -2.49186981e-02 1.57996945e+01] [ 1.09814392e-02 9.99938424e-01 1.59904415e-03 -9.95689572e-01] [ 2.48996730e-02 -1.87209509e-03 9.99688202e-01 -1.06802834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962414036999999 meters 0.08850874046507531 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.01, Z:-0.11 [[ 9.99551677e-01 -1.52137374e-02 -2.57873425e-02 1.58586620e+01] [ 1.52614480e-02 9.99882169e-01 1.65435013e-03 -1.01006635e+00] [ 2.57591351e-02 -2.04716064e-03 9.99666082e-01 -1.10950790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022414037 meters 0.08902922492497375 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.02, Z:-0.11 [[ 9.99493185e-01 -1.91506214e-02 -2.54288552e-02 1.59183958e+01] [ 1.91982789e-02 9.99814365e-01 1.63131962e-03 -1.01528932e+00] [ 2.53928940e-02 -2.11868310e-03 9.99675303e-01 -1.10761267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082414037 meters 0.08942920328320525 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.01, Z:-0.11 [[ 9.99457361e-01 -2.31763764e-02 -2.34059519e-02 1.59793596e+01] [ 2.32178464e-02 9.99729302e-01 1.50153450e-03 -1.01472480e+00] [ 2.33648159e-02 -2.04415551e-03 9.99724916e-01 -1.07629844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142414037 meters 0.0912983355013678 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.02, Z:-0.11 [[ 9.99425960e-01 -2.47553174e-02 -2.31284268e-02 1.60389796e+01] [ 2.47962100e-02 9.99691427e-01 1.48291340e-03 -1.02132162e+00] [ 2.30845800e-02 -2.05555947e-03 9.99731402e-01 -1.09692851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202414037 meters 0.09270622930319822 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.03, Z:-0.11 [[ 9.99422828e-01 -2.45420828e-02 -2.34882188e-02 1.60968401e+01] [ 2.45841526e-02 9.99696633e-01 1.50397839e-03 -1.02548540e+00] [ 2.34441825e-02 -2.08054829e-03 9.99722982e-01 -1.09559609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262414037 meters 0.09342910415940564 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.02, Z:-0.11 [[ 9.99418531e-01 -2.33858988e-02 -2.48132898e-02 1.61550252e+01] [ 2.34324473e-02 9.99724163e-01 1.58680566e-03 -1.02349237e+00] [ 2.47693365e-02 -2.16731909e-03 9.99690844e-01 -1.10388679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322414037 meters 0.09121698954453436 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.02, Z:-0.11 [[ 9.99393640e-01 -2.47041602e-02 -2.45368551e-02 1.62149629e+01] [ 2.47500522e-02 9.99692440e-01 1.56835781e-03 -1.02070809e+00] [ 2.44905636e-02 -2.17469526e-03 9.99697696e-01 -1.09123459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382414037 meters 0.09407444909412267 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.03, Z:-0.11 [[ 9.99425713e-01 -2.59632399e-02 -2.17750988e-02 1.62725478e+01] [ 2.59996359e-02 9.99660986e-01 1.38996374e-03 -1.02983235e+00] [ 2.17316288e-02 -1.95531014e-03 9.99761928e-01 -1.09241404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442414037 meters 0.09614686819217039 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.03, Z:-0.11 [[ 9.99406273e-01 -2.68038450e-02 -2.16484339e-02 1.63299232e+01] [ 2.68399765e-02 9.99638790e-01 1.38013288e-03 -1.03326609e+00] [ 2.16036214e-02 -1.96035691e-03 9.99764693e-01 -1.09355684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502414037 meters 0.09664861878661003 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.03, Z:-0.11 [[ 9.99370191e-01 -2.61660648e-02 -2.39699286e-02 1.63889399e+01] [ 2.62100497e-02 9.99655298e-01 1.52261988e-03 -1.03356266e+00] [ 2.39218252e-02 -2.14991394e-03 9.99711520e-01 -1.12080220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562414037 meters 0.09140553163790734 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.02, Z:-0.11 [[ 9.99404980e-01 -2.44181741e-02 -2.43606055e-02 1.64499753e+01] [ 2.44630859e-02 9.99699537e-01 1.54727628e-03 -1.02108076e+00] [ 2.43155044e-02 -2.14229121e-03 9.99702039e-01 -1.09963231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622414037000002 meters 0.08923549446488006 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.02, Z:-0.11 [[ 9.99418241e-01 -2.43894028e-02 -2.38397919e-02 1.65086790e+01] [ 2.44322628e-02 9.99700350e-01 1.50817953e-03 -1.01759308e+00] [ 2.37958647e-02 -2.08976219e-03 9.99714654e-01 -1.09519858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682414037 meters 0.09191956876914556 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.02, Z:-0.11 [[ 9.99407933e-01 -2.67414468e-02 -2.16489629e-02 1.65667743e+01] [ 2.67773091e-02 9.99640487e-01 1.36829611e-03 -1.02225252e+00] [ 2.16045896e-02 -1.94718696e-03 9.99764697e-01 -1.08790913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742414037 meters 0.09235663124903576 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.02, Z:-0.11 [[ 9.99355697e-01 -2.93878518e-02 -2.06044831e-02 1.66276075e+01] [ 2.94208955e-02 9.99566263e-01 1.30235686e-03 -1.02105403e+00] [ 2.05572727e-02 -1.90772010e-03 9.99786857e-01 -1.07644365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802414037000002 meters 0.09407292679806038 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.02, Z:-0.11 [[ 9.99299143e-01 -3.02635292e-02 -2.20304727e-02 1.66873088e+01] [ 3.03015086e-02 9.99539834e-01 1.39210151e-03 -1.02499659e+00] [ 2.19782052e-02 -2.05868241e-03 9.99756330e-01 -1.09229541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862414037 meters 0.09468532643511589 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.03, Z:-0.11 [[ 9.99215395e-01 -3.19759605e-02 -2.33694831e-02 1.67470994e+01] [ 3.20191535e-02 9.99486165e-01 1.47632263e-03 -1.02691465e+00] [ 2.33102682e-02 -2.22343537e-03 9.99725806e-01 -1.12709260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922414037 meters 0.09565440249226398 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.03, Z:-0.11 [[ 9.99215421e-01 -3.21048808e-02 -2.31909246e-02 1.68062675e+01] [ 3.21474322e-02 9.99482065e-01 1.46425456e-03 -1.02929696e+00] [ 2.31319035e-02 -2.20863442e-03 9.99729982e-01 -1.11605781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982414037 meters 0.09355654489051803 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.02, Z:-0.11 [[ 9.99223111e-01 -3.25136698e-02 -2.22718683e-02 1.68669438e+01] [ 3.25530159e-02 9.99469021e-01 1.40626366e-03 -1.02424355e+00] [ 2.22143196e-02 -2.13018764e-03 9.99750962e-01 -1.09211834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042414037 meters 0.09504282716351568 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.03, Z:-0.11 [[ 9.99230592e-01 -3.20198377e-02 -2.26484711e-02 1.69266400e+01] [ 3.20604004e-02 9.99484910e-01 1.43004267e-03 -1.03000033e+00] [ 2.25910154e-02 -2.15506144e-03 9.99742468e-01 -1.10720711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102414037 meters 0.09531686204157507 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.03, Z:-0.11 [[ 9.99221187e-01 -3.17463651e-02 -2.34347346e-02 1.69874171e+01] [ 3.17897194e-02 9.99493484e-01 1.47968798e-03 -1.03170849e+00] [ 2.33758898e-02 -2.22351921e-03 9.99724274e-01 -1.12206422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162414037 meters 0.09488368828502898 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.03, Z:-0.11 [[ 9.99114731e-01 -3.21176308e-02 -2.71700516e-02 1.70471215e+01] [ 3.21760235e-02 9.99480747e-01 1.71458996e-03 -1.03020996e+00] [ 2.71008749e-02 -2.58729631e-03 9.99629356e-01 -1.14989457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222414037 meters 0.09816148904101012 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.04, Z:-0.12 [[ 9.99191231e-01 -3.12929348e-02 -2.52514463e-02 1.71051094e+01] [ 3.13430762e-02 9.99507417e-01 1.59224416e-03 -1.03929692e+00] [ 2.51891818e-02 -2.38241440e-03 9.99679863e-01 -1.16958532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282414037000002 meters 0.09491574421920836 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.03, Z:-0.11 [[ 9.99374085e-01 -2.61715315e-02 -2.38010396e-02 1.71665158e+01] [ 2.62146355e-02 9.99655211e-01 1.50075262e-03 -1.03249500e+00] [ 2.37535563e-02 -2.12374885e-03 9.99715589e-01 -1.14057678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342414037 meters 0.08968335529745051 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.02, Z:-0.11 [[ 9.99473784e-01 -2.26454257e-02 -2.32236776e-02 1.72281748e+01] [ 2.26855164e-02 9.99741578e-01 1.46424905e-03 -1.02311376e+00] [ 2.31845176e-02 -1.99031965e-03 9.99729222e-01 -1.10261856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402414037 meters 0.08885359039589578 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.02, Z:-0.11 [[ 9.99510731e-01 -1.98671990e-02 -2.41576557e-02 1.72881458e+01] [ 1.99097544e-02 9.99800622e-01 1.52230047e-03 -1.02250232e+00] [ 2.41225954e-02 -2.00252864e-03 9.99707002e-01 -1.11930215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462414037000002 meters 0.09024704181972622 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.02, Z:-0.11 [[ 9.99551958e-01 -1.76272523e-02 -2.41901519e-02 1.73468226e+01] [ 1.76692409e-02 9.99842727e-01 1.52311353e-03 -1.02472622e+00] [ 2.41594992e-02 -1.94985273e-03 9.99706215e-01 -1.13183129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522414037 meters 0.08812541792821642 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.02, Z:-0.11 [[ 9.99529527e-01 -1.69376336e-02 -2.55703322e-02 1.74059765e+01] [ 1.69841669e-02 9.99854472e-01 1.60371910e-03 -1.02336174e+00] [ 2.55394478e-02 -2.03725538e-03 9.99671739e-01 -1.13480072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582414037 meters 0.08850947944269999 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.03, Z:-0.11 [[ 9.99581648e-01 -1.62733107e-02 -2.39104361e-02 1.74648041e+01] [ 1.63137741e-02 9.99865799e-01 1.49818953e-03 -1.02793145e+00] [ 2.38828467e-02 -1.88763221e-03 9.99712982e-01 -1.14086966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642414037 meters 0.09065482647299819 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.03, Z:-0.11 [[ 9.99610890e-01 -1.52310316e-02 -2.33684438e-02 1.75220575e+01] [ 1.52693346e-02 9.99882349e-01 1.46152593e-03 -1.03299835e+00] [ 2.33434339e-02 -1.81777782e-03 9.99725852e-01 -1.14355511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702414037 meters 0.08797049902528058 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.03, Z:-0.11 [[ 9.99594963e-01 -1.53149172e-02 -2.39867166e-02 1.75800547e+01] [ 1.53551386e-02 9.99880987e-01 1.49352169e-03 -1.03109869e+00] [ 2.39609887e-02 -1.86123612e-03 9.99711162e-01 -1.12702284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762414037 meters 0.09181651645405499 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.04, Z:-0.12 [[ 9.99634738e-01 -1.29422060e-02 -2.37252922e-02 1.76379804e+01] [ 1.29808689e-02 9.99914655e-01 1.47631764e-03 -1.04260013e+00] [ 2.37041605e-02 -1.78375331e-03 9.99717426e-01 -1.16768636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822414037 meters 0.08669041269105497 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.03, Z:-0.11 [[ 9.99639716e-01 -1.08537420e-02 -2.45485946e-02 1.76984406e+01] [ 1.08944898e-02 9.99939488e-01 1.52674666e-03 -1.03277301e+00] [ 2.45305382e-02 -1.79364101e-03 9.99697472e-01 -1.14565031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882414037 meters 0.08694590313321092 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.04, Z:-0.12 [[ 9.99669004e-01 -9.82545587e-03 -2.37769303e-02 1.77570909e+01] [ 9.86335371e-03 9.99950265e-01 1.47713695e-03 -1.03576213e+00] [ 2.37612342e-02 -1.71116829e-03 9.99716198e-01 -1.15080162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942414037 meters 0.0846082288329804 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.03, Z:-0.11 [[ 9.99783190e-01 -6.37237292e-03 -1.98233740e-02 1.78169285e+01] [ 6.39802852e-03 9.99978775e-01 1.23105682e-03 -1.03459863e+00] [ 1.98151085e-02 -1.35762043e-03 9.99802740e-01 -1.12200956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002414037 meters 0.08486598427290247 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.04, Z:-0.11 [[ 9.99748495e-01 -5.10325030e-03 -2.18381121e-02 1.78757977e+01] [ 5.13396934e-03 9.99985909e-01 1.35083700e-03 -1.03871939e+00] [ 2.18309107e-02 -1.46261346e-03 9.99760607e-01 -1.13828020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062414037 meters 0.0858102346445434 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.05, Z:-0.12 [[ 9.99722481e-01 -5.00791042e-03 -2.30191582e-02 1.79331661e+01] [ 5.04197873e-03 9.99986278e-01 1.42219729e-03 -1.04518261e+00] [ 2.30117201e-02 -1.53786471e-03 9.99734012e-01 -1.15222236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122414037000002 meters 0.08629056269376052 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.05, Z:-0.12 [[ 9.99696992e-01 -5.06318560e-03 -2.40891877e-02 1.79919927e+01] [ 5.10037625e-03 9.99985894e-01 1.48268231e-03 -1.05075085e+00] [ 2.40813408e-02 -1.60509696e-03 9.99708714e-01 -1.15532435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182414037 meters 0.08548905785579136 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.05, Z:-0.11 [[ 9.99781015e-01 -7.58265637e-04 -2.09128293e-02 1.80511477e+01] [ 7.85348043e-04 9.99998864e-01 1.28683157e-03 -1.05337502e+00] [ 2.09118298e-02 -1.30297362e-03 9.99780475e-01 -1.13303917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242414037 meters 0.08474288934913804 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.05, Z:-0.11 [[ 9.99774940e-01 2.27511953e-03 -2.10925014e-02 1.81112532e+01] [-2.24825665e-03 9.99996631e-01 1.29720079e-03 -1.05473545e+00] [ 2.10953816e-02 -1.24948748e-03 9.99776687e-01 -1.13495985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302414037000002 meters 0.08458906070652254 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.06, Z:-0.12 [[ 9.99738758e-01 4.57115981e-03 -2.23946277e-02 1.81707321e+01] [-4.54146649e-03 9.99988740e-01 1.37659196e-03 -1.05905752e+00] [ 2.24006681e-02 -1.27452789e-03 9.99748261e-01 -1.16410037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362414037 meters 0.08445726126258919 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.06, Z:-0.12 [[ 9.99697011e-01 6.43307309e-03 -2.37592458e-02 1.82293282e+01] [-6.40020933e-03 9.99978454e-01 1.45898373e-03 -1.06387574e+00] [ 2.37681197e-02 -1.30647753e-03 9.99716645e-01 -1.18611845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422414037 meters 0.08350727782718434 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.06, Z:-0.12 [[ 9.99696609e-01 1.05952657e-02 -2.22357666e-02 1.82891722e+01] [-1.05675167e-02 9.99943230e-01 1.36507894e-03 -1.06486114e+00] [ 2.22489676e-02 -1.12968795e-03 9.99751823e-01 -1.17130022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482414037 meters 0.08329754130002112 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.07, Z:-0.12 [[ 9.99678706e-01 1.18551066e-02 -2.24040649e-02 1.83484005e+01] [-1.18273535e-02 9.99929115e-01 1.37086011e-03 -1.06691607e+00] [ 2.24187285e-02 -1.10543886e-03 9.99748058e-01 -1.15666266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542414037 meters 0.08416588258579702 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.08, Z:-0.12 [[ 9.99681592e-01 1.16240759e-02 -2.23963153e-02 1.84056847e+01] [-1.15963379e-02 9.99931824e-01 1.36798873e-03 -1.07522308e+00] [ 2.24106900e-02 -1.10783791e-03 9.99748235e-01 -1.18181955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602414037 meters 0.07899823214122516 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.07, Z:-0.11 [[ 9.99668862e-01 1.12645139e-02 -2.31360490e-02 1.84650961e+01] [-1.12349456e-02 9.99935895e-01 1.40760884e-03 -1.06710545e+00] [ 2.31504219e-02 -1.14721047e-03 9.99731335e-01 -1.12341408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662414037 meters 0.08004521348985126 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.07, Z:-0.11 [[ 9.99648528e-01 1.35759959e-02 -2.27708737e-02 1.85234996e+01] [-1.35479729e-02 9.99907264e-01 1.38447900e-03 -1.07426882e+00] [ 2.27875577e-02 -1.07549322e-03 9.99739751e-01 -1.13614668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722414037 meters 0.07756723619698086 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.07, Z:-0.11 [[ 9.99587435e-01 1.63061839e-02 -2.36446406e-02 1.85830953e+01] [-1.62768581e-02 9.99866497e-01 1.43221572e-03 -1.07229620e+00] [ 2.36648379e-02 -1.04676438e-03 9.99719400e-01 -1.10535991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782414037 meters 0.07957643081082658 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.08, Z:-0.12 [[ 9.99512524e-01 1.78809321e-02 -2.55926939e-02 1.86403015e+01] [-1.78471384e-02 9.99839528e-01 1.54827032e-03 -1.08429491e+00] [ 2.56162716e-02 -1.09075922e-03 9.99671254e-01 -1.17348578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842414037 meters 0.07832954561453578 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.08, Z:-0.12 [[ 9.99453147e-01 2.04012309e-02 -2.60229934e-02 1.86990730e+01] [-2.03671860e-02 9.99791330e-01 1.57267050e-03 -1.08496697e+00] [ 2.60496476e-02 -1.04179534e-03 9.99660107e-01 -1.16090634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902414037 meters 0.07840727179261596 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.09, Z:-0.12 [[ 9.99471513e-01 2.09545693e-02 -2.48515815e-02 1.87579546e+01] [-2.09238228e-02 9.99779953e-01 1.49662407e-03 -1.09026924e+00] [ 2.48774741e-02 -9.75843031e-04 9.99690031e-01 -1.16838926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962414037000002 meters 0.07675195366297785 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.09, Z:-0.11 [[ 9.99553171e-01 1.98556777e-02 -2.23430279e-02 1.88161469e+01] [-1.98306705e-02 9.99802455e-01 1.34027311e-03 -1.09449285e+00] [ 2.23652262e-02 -8.96597013e-04 9.99749465e-01 -1.10945245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022414037 meters 0.0763147837253235 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.10, Z:-0.11 [[ 9.99637289e-01 1.68275878e-02 -2.10267223e-02 1.88748843e+01] [-1.68048795e-02 9.99857999e-01 1.25621100e-03 -1.10003095e+00] [ 2.10448755e-02 -9.02403822e-04 9.99778125e-01 -1.08554003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082414037 meters 0.07798543577244413 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.12, Z:-0.11 [[ 9.99666267e-01 9.94455896e-03 -2.38423993e-02 1.89339885e+01] [-9.91340849e-03 9.99949847e-01 1.42435905e-03 -1.11516097e+00] [ 2.38553682e-02 -1.18752425e-03 9.99714715e-01 -1.11121729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142414037 meters 0.07937463328252821 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.13, Z:-0.11 [[ 9.99634211e-01 5.42169158e-03 -2.64962340e-02 1.89939431e+01] [-5.38163675e-03 9.99984266e-01 1.58279366e-03 -1.12690365e+00] [ 2.65043985e-02 -1.43962158e-03 9.99647660e-01 -1.12420730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202414037 meters 0.07997975417475855 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.13, Z:-0.11 [[ 9.99586339e-01 2.56309883e-03 -2.86457955e-02 1.90533581e+01] [-2.51512876e-03 9.99995374e-01 1.71049959e-03 -1.13425898e+00] [ 2.86500472e-02 -1.63774415e-03 9.99588161e-01 -1.13111293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262414037 meters 0.08250446848926926 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.15, Z:-0.12 [[ 9.99599553e-01 2.36539305e-03 -2.81982154e-02 1.91101819e+01] [-2.31890132e-03 9.99995898e-01 1.68133411e-03 -1.14746734e+00] [ 2.82020768e-02 -1.61527195e-03 9.99600937e-01 -1.16944400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322414037 meters 0.0803339509407301 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.15, Z:-0.11 [[ 9.99622349e-01 3.15876081e-03 -2.72980090e-02 1.91694210e+01] [-3.11565285e-03 9.99993832e-01 1.62155061e-03 -1.14710590e+00] [ 2.73029627e-02 -1.53588711e-03 9.99626025e-01 -1.13076279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382414037 meters 0.07933855386847968 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.15, Z:-0.11 [[ 9.99560450e-01 8.32430072e-03 -2.84537011e-02 1.92295373e+01] [-8.27954541e-03 9.99964295e-01 1.69037302e-03 -1.14689043e+00] [ 2.84667564e-02 -1.45404630e-03 9.99593682e-01 -1.13655725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442414037 meters 0.07857800300086955 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.15, Z:-0.12 [[ 9.99434720e-01 1.26061683e-02 -3.11660968e-02 1.92890882e+01] [-1.25545786e-02 9.99919476e-01 1.85045415e-03 -1.14803890e+00] [ 3.11869143e-02 -1.45813092e-03 9.99512506e-01 -1.15598452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502414037 meters 0.07769491004351675 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.15, Z:-0.12 [[ 9.99227987e-01 2.02149144e-02 -3.36865964e-02 1.93489965e+01] [-2.01589747e-02 9.99794788e-01 1.99943944e-03 -1.14767904e+00] [ 3.37201020e-02 -1.31880860e-03 9.99430446e-01 -1.19594290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562414037 meters 0.07640012862506251 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.15, Z:-0.11 [[ 9.99359412e-01 2.49043926e-02 -2.57008945e-02 1.94078870e+01] [-2.48734114e-02 9.99689446e-01 1.52448682e-03 -1.14884883e+00] [ 2.57308794e-02 -8.84241327e-04 9.99668515e-01 -1.13869661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622414037000002 meters 0.07502441559259332 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.15, Z:-0.11 [[ 9.99407723e-01 2.59872594e-02 -2.25580320e-02 1.94678449e+01] [-2.59636948e-02 9.99661992e-01 1.33692873e-03 -1.15101900e+00] [ 2.25851503e-02 -7.50447039e-04 9.99744641e-01 -1.07320546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682414037 meters 0.07528380723081743 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.16, Z:-0.11 [[ 9.99396989e-01 2.30220238e-02 -2.59931634e-02 1.95280584e+01] [-2.29897303e-02 9.99734514e-01 1.54058299e-03 -1.16064323e+00] [ 2.60217300e-02 -9.42078187e-04 9.99660934e-01 -1.08140662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742414037 meters 0.07626119524057443 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.17, Z:-0.11 [[ 9.99388137e-01 1.89153795e-02 -2.94204137e-02 1.95881423e+01] [-1.88722346e-02 9.99820383e-01 1.74350290e-03 -1.17143758e+00] [ 2.94481083e-02 -1.18720716e-03 9.99565605e-01 -1.11091335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802414037000002 meters 0.07810385053562678 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.19, Z:-0.11 [[ 9.99432969e-01 1.12668348e-02 -3.17300908e-02 1.96475259e+01] [-1.12128138e-02 9.99935367e-01 1.87994447e-03 -1.18775730e+00] [ 3.17492210e-02 -1.52309488e-03 9.99494706e-01 -1.13277116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862414037 meters 0.07943941841668987 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.20, Z:-0.11 [[ 9.99534979e-01 7.03129946e-03 -2.96713151e-02 1.97050695e+01] [-6.98227476e-03 9.99974083e-01 1.75554639e-03 -1.20009121e+00] [ 2.96828899e-02 -1.54755675e-03 9.99558168e-01 -1.13962647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922414037 meters 0.08150525758590686 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.21, Z:-0.11 [[ 9.99588333e-01 2.04720220e-03 -2.86177132e-02 1.97640791e+01] [-1.99955889e-03 9.99996567e-01 1.69333708e-03 -1.21465788e+00] [ 2.86210816e-02 -1.63541719e-03 9.99588995e-01 -1.14401924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982414037 meters 0.0791414668510661 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.21, Z:-0.11 [[ 9.99542128e-01 -2.86633620e-04 -3.02564253e-02 1.98243720e+01] [ 3.40940573e-04 9.99998340e-01 1.78974619e-03 -1.21349299e+00] [ 3.02558621e-02 -1.79924236e-03 9.99540567e-01 -1.12003170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042414037 meters 0.08028079148071257 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.23, Z:-0.11 [[ 9.99547287e-01 -3.17408003e-03 -2.99190078e-02 1.98833848e+01] [ 3.22845485e-03 9.99993223e-01 1.76926900e-03 -1.22672944e+00] [ 2.99131893e-02 -1.86506020e-03 9.99550760e-01 -1.13151943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102414037 meters 0.0809551396773053 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.24, Z:-0.11 [[ 9.99621616e-01 -4.21604210e-03 -2.71818042e-02 1.99411623e+01] [ 4.26123767e-03 9.99989633e-01 1.60500358e-03 -1.23606533e+00] [ 2.71747556e-02 -1.72022440e-03 9.99629218e-01 -1.09610360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162414037 meters 0.08054535411041999 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.24, Z:-0.11 [[ 9.99660783e-01 -2.77966313e-03 -2.58957809e-02 2.00013200e+01] [ 2.82019245e-03 9.99994855e-01 1.52870308e-03 -1.23961700e+00] [ 2.58913984e-02 -1.60121560e-03 9.99663479e-01 -1.08594396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222414037 meters 0.08034820337143081 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.25, Z:-0.11 [[ 9.99663400e-01 -2.76645241e-04 -2.59424227e-02 2.00614214e+01] [ 3.16469800e-04 9.99998778e-01 1.53102020e-03 -1.24516147e+00] [ 2.59419674e-02 -1.53871486e-03 9.99662266e-01 -1.09330757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282414037 meters 0.07990699403596366 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.25, Z:-0.11 [[ 9.99586823e-01 2.48361065e-03 -2.86359113e-02 2.01205485e+01] [-2.43639793e-03 9.99995615e-01 1.68349792e-03 -1.25149525e+00] [ 2.86399669e-02 -1.61303386e-03 9.99588491e-01 -1.11472451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342414037 meters 0.08062396739360368 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.26, Z:-0.11 [[ 9.99575571e-01 4.03302508e-03 -2.88515634e-02 2.01777673e+01] [-3.98580562e-03 9.99990622e-01 1.69395776e-03 -1.26040302e+00] [ 2.88581246e-02 -1.57824208e-03 9.99582272e-01 -1.14727385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402414037 meters 0.07917975857523635 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.26, Z:-0.11 [[ 9.99511756e-01 4.79707147e-03 -3.08745470e-02 2.02363233e+01] [-4.74358837e-03 9.99987120e-01 1.80528443e-03 -1.26178084e+00] [ 3.08828095e-02 -1.65794687e-03 9.99521637e-01 -1.13848802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462414037000002 meters 0.07869631430004027 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.27, Z:-0.11 [[ 9.99470421e-01 6.18386893e-03 -3.19474054e-02 2.02947304e+01] [-6.12755002e-03 9.99979496e-01 1.86046831e-03 -1.26713406e+00] [ 3.19582553e-02 -1.66372372e-03 9.99487820e-01 -1.13021940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522414037 meters 0.07771357581215346 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.27, Z:-0.11 [[ 9.99471440e-01 6.17909781e-03 -3.19164433e-02 2.03535518e+01] [-6.12313300e-03 9.99979540e-01 1.85092165e-03 -1.26857701e+00] [ 3.19272273e-02 -1.65451470e-03 9.99488827e-01 -1.10537544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582414037 meters 0.07810923152030148 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.28, Z:-0.11 [[ 9.99512176e-01 5.34168418e-03 -3.07713589e-02 2.04114250e+01] [-5.28953032e-03 9.99984433e-01 1.77603686e-03 -1.27689819e+00] [ 3.07803669e-02 -1.61240443e-03 9.99524872e-01 -1.09827454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642414037 meters 0.07847703245933758 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.29, Z:-0.11 [[ 9.99550036e-01 3.99745625e-03 -2.97278487e-02 2.04694005e+01] [-3.94839742e-03 9.99990745e-01 1.70878395e-03 -1.28512591e+00] [ 2.97344044e-02 -1.59063770e-03 9.99556569e-01 -1.09415100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702414037 meters 0.07936561477317515 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.29, Z:-0.11 [[ 9.99458707e-01 3.40909665e-03 -3.27210959e-02 2.05276133e+01] [-3.34940544e-03 9.99992626e-01 1.87888203e-03 -1.28894336e+00] [ 3.27272599e-02 -1.76826879e-03 9.99462756e-01 -1.11423490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762414037 meters 0.0796544152059481 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.29, Z:-0.11 [[ 9.99475674e-01 3.74332680e-03 -3.21615262e-02 2.05860927e+01] [-3.68607784e-03 9.99991515e-01 1.83915077e-03 -1.29431852e+00] [ 3.21681379e-02 -1.71963656e-03 9.99480992e-01 -1.13492357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822414037 meters 0.0796326098621328 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.30, Z:-0.12 [[ 9.99414007e-01 5.85732092e-03 -3.37243991e-02 2.06447468e+01] [-5.79582485e-03 9.99981359e-01 1.92095930e-03 -1.29987673e+00] [ 3.37350221e-02 -1.72437292e-03 9.99429325e-01 -1.16313068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882414037 meters 0.07780321596689696 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.30, Z:-0.11 [[ 9.99504602e-01 5.63332663e-03 -3.09647491e-02 2.07040372e+01] [-5.58144094e-03 9.99982872e-01 1.76181725e-03 -1.29674379e+00] [ 3.09741436e-02 -1.58811653e-03 9.99518924e-01 -1.09599941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942414037 meters 0.07711941375302306 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.30, Z:-0.11 [[ 9.99541943e-01 4.22596542e-03 -2.99674125e-02 2.07623409e+01] [-4.17696664e-03 9.99989836e-01 1.69748102e-03 -1.29964991e+00] [ 2.99742814e-02 -1.57153060e-03 9.99549435e-01 -1.06931423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002414037 meters 0.07861723555483226 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.31, Z:-0.11 [[ 9.99526959e-01 -4.68356858e-05 -3.07547598e-02 2.08212661e+01] [ 1.00470778e-04 9.99998477e-01 1.74241766e-03 -1.31175282e+00] [ 3.07546314e-02 -1.74468338e-03 9.99525442e-01 -1.08568501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062414037 meters 0.08049140557454067 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.32, Z:-0.11 [[ 9.99468392e-01 -1.18247061e-03 -3.25811982e-02 2.08792489e+01] [ 1.24318248e-03 9.99997529e-01 1.84320748e-03 -1.31847825e+00] [ 3.25789381e-02 -1.88273200e-03 9.99467392e-01 -1.12446749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122414037 meters 0.0799252172002582 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.32, Z:-0.11 [[ 9.99406379e-01 -7.36608745e-04 -3.44433963e-02 2.09377098e+01] [ 8.04099518e-04 9.99997784e-01 1.94565815e-03 -1.31697796e+00] [ 3.44418868e-02 -1.97219909e-03 9.99404756e-01 -1.12981755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182414037 meters 0.08053667462705665 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.32, Z:-0.11 [[ 9.99512842e-01 1.23040157e-04 -3.12099993e-02 2.09958672e+01] [-6.80970631e-05 9.99998446e-01 1.76148920e-03 -1.32341793e+00] [ 3.12101675e-02 -1.75850576e-03 9.99511297e-01 -1.14309984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242414037 meters 0.07898224509242478 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.32, Z:-0.11 [[ 9.99627647e-01 -2.31056062e-04 -2.72857892e-02 2.10549702e+01] [ 2.73126329e-04 9.99998780e-01 1.53812115e-03 -1.32090230e+00] [ 2.72854005e-02 -1.54500089e-03 9.99626490e-01 -1.07946596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302414037000002 meters 0.07906000323020866 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.32, Z:-0.11 [[ 9.99596125e-01 -2.69995952e-03 -2.82895061e-02 2.11152667e+01] [ 2.74615631e-03 9.99994958e-01 1.59427685e-03 -1.32101798e+00] [ 2.82850589e-02 -1.67132037e-03 9.99598500e-01 -1.06541976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362414037 meters 0.08095073021193201 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.33, Z:-0.11 [[ 9.99509470e-01 -4.43214677e-03 -3.10028216e-02 2.11737974e+01] [ 4.48843159e-03 9.99988402e-01 1.74611594e-03 -1.32961510e+00] [ 3.09947230e-02 -1.88441347e-03 9.99517772e-01 -1.11102824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422414037 meters 0.08101245781462081 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.33, Z:-0.11 [[ 9.99477325e-01 -5.42485858e-03 -3.18692239e-02 2.12321912e+01] [ 5.48459025e-03 9.99983363e-01 1.78715579e-03 -1.33384999e+00] [ 3.18589986e-02 -1.96101132e-03 9.99490449e-01 -1.12700242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482414037 meters 0.08080731963799082 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.33, Z:-0.11 [[ 9.99554482e-01 -1.78198239e-03 -2.97936668e-02 2.12916106e+01] [ 1.83256108e-03 9.99996926e-01 1.67041305e-03 -1.33163498e+00] [ 2.97905986e-02 -1.72426756e-03 9.99554674e-01 -1.11328225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542414037 meters 0.08057574531889083 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.33, Z:-0.11 [[ 9.99626982e-01 1.77275863e-03 -2.72535029e-02 2.13512385e+01] [-1.73177097e-03 9.99997334e-01 1.52747044e-03 -1.33265474e+00] [ 2.72561380e-02 -1.47970384e-03 9.99627387e-01 -1.10136189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602414037 meters 0.07810595024728913 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.33, Z:-0.11 [[ 9.99563790e-01 5.29188094e-03 -2.90555627e-02 2.14111915e+01] [-5.24680278e-03 9.99984911e-01 1.62746896e-03 -1.32718983e+00] [ 2.90637367e-02 -1.47431023e-03 9.99576473e-01 -1.09335358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662414037 meters 0.07971369891017197 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.33, Z:-0.11 [[ 9.99513832e-01 8.44549615e-03 -3.00128861e-02 2.14694097e+01] [-8.39886090e-03 9.99963318e-01 1.67956901e-03 -1.33360526e+00] [ 3.00259699e-02 -1.42667841e-03 9.99548101e-01 -1.14708720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722414037 meters 0.07629055916215456 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.32, Z:-0.11 [[ 9.99453746e-01 1.06851393e-02 -3.12736006e-02 2.15289221e+01] [-1.06358429e-02 9.99941920e-01 1.74222527e-03 -1.32422796e+00] [ 3.12904002e-02 -1.40865246e-03 9.99509343e-01 -1.08345049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782414037 meters 0.07757284744273572 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.33, Z:-0.11 [[ 9.99508319e-01 1.02762499e-02 -2.96229379e-02 2.15859419e+01] [-1.02319135e-02 9.99946295e-01 1.64788971e-03 -1.33181586e+00] [ 2.96382811e-02 -1.34398014e-03 9.99559786e-01 -1.10619103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842414037 meters 0.07725857630245322 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.33, Z:-0.11 [[ 9.99472741e-01 9.34444261e-03 -3.10953435e-02 2.16446552e+01] [-9.29537510e-03 9.99955314e-01 1.72215524e-03 -1.33313837e+00] [ 3.11100466e-02 -1.43220434e-03 9.99514939e-01 -1.09423934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902414037 meters 0.07712144833076268 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.34, Z:-0.11 [[ 9.99486480e-01 9.95886779e-03 -3.04564913e-02 2.17036155e+01] [-9.91230364e-03 9.99949462e-01 1.67947826e-03 -1.33640813e+00] [ 3.04716778e-02 -1.37672183e-03 9.99534682e-01 -1.11390892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962414037000002 meters 0.07699489258919891 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.34, Z:-0.11 [[ 9.99504114e-01 9.56843753e-03 -2.99995316e-02 2.17617180e+01] [-9.52333398e-03 9.99953297e-01 1.64599805e-03 -1.34023842e+00] [ 3.00138801e-02 -1.35948626e-03 9.99548557e-01 -1.11687192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022414037 meters 0.07890563589077917 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.35, Z:-0.11 [[ 9.99534111e-01 6.36444400e-03 -2.98505352e-02 2.18200005e+01] [-6.31839947e-03 9.99978699e-01 1.63657502e-03 -1.35069364e+00] [ 2.98603153e-02 -1.44720495e-03 9.99553034e-01 -1.14431134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082414037 meters 0.0780474192414343 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.35, Z:-0.11 [[ 9.99561191e-01 5.17023981e-03 -2.91666704e-02 2.18786897e+01] [-5.12598337e-03 9.99985595e-01 1.59192977e-03 -1.35285204e+00] [ 2.91744809e-02 -1.44172335e-03 9.99573295e-01 -1.11804131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142414037 meters 0.07799560317846584 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.36, Z:-0.11 [[ 9.99582510e-01 3.02235799e-03 -2.87344869e-02 2.19375267e+01] [-2.97871731e-03 9.99994345e-01 1.56143975e-03 -1.35804378e+00] [ 2.87390436e-02 -1.47519595e-03 9.99585860e-01 -1.10909444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202414037 meters 0.07891417392057576 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.37, Z:-0.11 [[ 9.99601298e-01 1.01562495e-03 -2.82172511e-02 2.19953175e+01] [-9.72792810e-04 9.99998354e-01 1.53162766e-03 -1.36614220e+00] [ 2.82187603e-02 -1.50356746e-03 9.99600641e-01 -1.09955924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262414037 meters 0.07924389498183827 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.37, Z:-0.11 [[ 9.99589262e-01 8.02106341e-04 -2.86472439e-02 2.20537405e+01] [-7.58068191e-04 9.99998514e-01 1.54808349e-03 -1.37172073e+00] [ 2.86484431e-02 -1.52573107e-03 9.99588385e-01 -1.10895064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322414037 meters 0.08028649204007662 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.38, Z:-0.11 [[ 9.99546060e-01 -2.07127655e-04 -3.01269168e-02 2.21115085e+01] [ 2.56238440e-04 9.99998645e-01 1.62627823e-03 -1.38157596e+00] [ 3.01265391e-02 -1.63325967e-03 9.99544758e-01 -1.14239945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382414037 meters 0.08126779162738233 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.39, Z:-0.11 [[ 9.99525464e-01 -1.43623165e-03 -3.07698575e-02 2.21695753e+01] [ 1.48797904e-03 9.99997517e-01 1.65892381e-03 -1.38778384e+00] [ 3.07673985e-02 -1.70392149e-03 9.99525119e-01 -1.14296802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442414037 meters 0.07977036238967507 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.39, Z:-0.11 [[ 9.99532539e-01 -3.92311611e-03 -3.03201574e-02 2.22295732e+01] [ 3.97447149e-03 9.99990767e-01 1.63368829e-03 -1.38712591e+00] [ 3.03134683e-02 -1.75343121e-03 9.99538903e-01 -1.11227190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502414037 meters 0.07989714226371014 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.39, Z:-0.11 [[ 9.99516582e-01 -5.79619779e-03 -3.05451573e-02 2.22886864e+01] [ 5.84915804e-03 9.99981541e-01 1.64476661e-03 -1.39470564e+00] [ 3.05350601e-02 -1.82263496e-03 9.99532035e-01 -1.13322798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562414037 meters 0.07930439862929202 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.40, Z:-0.11 [[ 9.99584422e-01 -6.08834561e-03 -2.81765092e-02 2.23479608e+01] [ 6.13333836e-03 9.99980050e-01 1.51066724e-03 -1.39670336e+00] [ 2.81667496e-02 -1.68285551e-03 9.99601822e-01 -1.10346153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622414037 meters 0.07806128185523477 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.40, Z:-0.11 [[ 9.99592758e-01 -3.17571111e-03 -2.83589998e-02 2.24084323e+01] [ 3.22011369e-03 9.99993660e-01 1.52019987e-03 -1.39549385e+00] [ 2.83539923e-02 -1.61089999e-03 9.99596647e-01 -1.07746878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682414037 meters 0.07786514186822828 Centerline is valid? [True, True] Translation: X:22.47, Y:-1.40, Z:-0.11 [[ 9.99560135e-01 3.12099816e-04 -2.96553328e-02 2.24683298e+01] [-2.65088352e-04 9.99998702e-01 1.58917999e-03 -1.39830369e+00] [ 2.96557903e-02 -1.58061968e-03 9.99558921e-01 -1.10116704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742414037 meters 0.07784276286974794 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.40, Z:-0.11 [[ 9.99575969e-01 2.53378435e-03 -2.90079738e-02 2.25281849e+01] [-2.48976586e-03 9.99995694e-01 1.55348040e-03 -1.39951271e+00] [ 2.90117851e-02 -1.48059861e-03 9.99577973e-01 -1.10622946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802414037000002 meters 0.07678377778631232 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.40, Z:-0.11 [[ 9.99621145e-01 1.93523405e-03 -2.74558124e-02 2.25874511e+01] [-1.89568230e-03 9.99997128e-01 1.46651591e-03 -1.40152429e+00] [ 2.74585716e-02 -1.41391282e-03 9.99621942e-01 -1.07841880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862414037 meters 0.07695231433357312 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.41, Z:-0.11 [[ 9.99597573e-01 2.05622767e-03 -2.82924858e-02 2.26447838e+01] [-2.01450615e-03 9.99996841e-01 1.50307463e-03 -1.40553668e+00] [ 2.82954871e-02 -1.44547436e-03 9.99598557e-01 -1.07915384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922414037 meters 0.07678279511221169 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.40, Z:-0.11 [[ 9.99496807e-01 5.18467912e-03 -3.12929963e-02 2.27042643e+01] [-5.13538227e-03 9.99985443e-01 1.65549702e-03 -1.40369100e+00] [ 3.13011240e-02 -1.49396249e-03 9.99508883e-01 -1.10697862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982414037 meters 0.07706402840028924 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.41, Z:-0.11 [[ 9.99548567e-01 4.84741081e-03 -2.96507250e-02 2.27627269e+01] [-4.80322034e-03 9.99987245e-01 1.56141153e-03 -1.40887441e+00] [ 2.96579156e-02 -1.41828769e-03 9.99559101e-01 -1.11697358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042414037 meters 0.07806855399265976 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.42, Z:-0.11 [[ 9.99610828e-01 2.78847588e-03 -2.77563749e-02 2.28197990e+01] [-2.74905673e-03 9.99995158e-01 1.45824148e-03 -1.41700408e+00] [ 2.77603068e-02 -1.38137012e-03 9.99613654e-01 -1.12118648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102414037 meters 0.0786109640084596 Centerline is valid? [True, True] Translation: X:22.88, Y:-1.42, Z:-0.11 [[ 9.99622479e-01 4.98762999e-04 -2.74709002e-02 2.28794532e+01] [-4.59310923e-04 9.99998854e-01 1.44243194e-03 -1.42106690e+00] [ 2.74715881e-02 -1.42926971e-03 9.99621563e-01 -1.11190246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162414037 meters 0.07941204021792042 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.43, Z:-0.11 [[ 9.99599978e-01 -5.79299849e-03 -2.76825830e-02 2.29395723e+01] [ 5.83546774e-03 9.99981917e-01 1.45361051e-03 -1.42977918e+00] [ 2.76736617e-02 -1.61456985e-03 9.99615707e-01 -1.10247997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222414037 meters 0.08217560375880312 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.44, Z:-0.11 [[ 9.99464478e-01 -1.20236601e-02 -3.04333630e-02 2.29983222e+01] [ 1.20778390e-02 9.99925785e-01 1.59703954e-03 -1.44203291e+00] [ 3.04119022e-02 -1.96375354e-03 9.99535522e-01 -1.12924682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282414037 meters 0.081766162007629 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.45, Z:-0.11 [[ 9.99453639e-01 -1.39648435e-02 -2.99567404e-02 2.30579174e+01] [ 1.40181750e-02 9.99900506e-01 1.57099735e-03 -1.44760800e+00] [ 2.99318212e-02 -1.99007785e-03 9.99549962e-01 -1.13177154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342414037 meters 0.08232926100841202 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.45, Z:-0.11 [[ 9.99488897e-01 -1.55856485e-02 -2.79111639e-02 2.31161813e+01] [ 1.56323792e-02 9.99876746e-01 1.45683242e-03 -1.45174034e+00] [ 2.78850181e-02 -1.89240572e-03 9.99609346e-01 -1.10211221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402414037 meters 0.08284465809134778 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.46, Z:-0.11 [[ 9.99484674e-01 -1.60646198e-02 -2.77905429e-02 2.31743741e+01] [ 1.61110713e-02 9.99869159e-01 1.44836848e-03 -1.45531618e+00] [ 2.77636393e-02 -1.89535752e-03 9.99612719e-01 -1.09645768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462414037000002 meters 0.08355611788876699 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.46, Z:-0.12 [[ 9.99433261e-01 -1.38208260e-02 -3.06943201e-02 2.32316968e+01] [ 1.38763658e-02 9.99902443e-01 1.59716358e-03 -1.46496486e+00] [ 3.06692516e-02 -2.02218402e-03 9.99527542e-01 -1.16321647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522414037 meters 0.08276243881362434 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.46, Z:-0.12 [[ 9.99450443e-01 -1.01992478e-02 -3.15402567e-02 2.32922756e+01] [ 1.02560840e-02 9.99946059e-01 1.64076005e-03 -1.46486640e+00] [ 3.15218208e-02 -1.96333788e-03 9.99501136e-01 -1.16576540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582414037 meters 0.0784957692386309 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.45, Z:-0.11 [[ 9.99551291e-01 5.60839462e-04 -2.99483335e-02 2.33533561e+01] [-5.14422983e-04 9.99998655e-01 1.55756749e-03 -1.44913440e+00] [ 2.99491668e-02 -1.54146248e-03 9.99550235e-01 -1.11507999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642414037 meters 0.07680389990289323 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.45, Z:-0.11 [[ 9.99576191e-01 6.36012510e-03 -2.84075180e-02 2.34140042e+01] [-6.32070369e-03 9.99978933e-01 1.47729180e-03 -1.44793096e+00] [ 2.84163153e-02 -1.29711021e-03 9.99595333e-01 -1.10715801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702414037 meters 0.0764174669349723 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.45, Z:-0.11 [[ 9.99540448e-01 1.12778847e-02 -2.81372013e-02 2.34735420e+01] [-1.12411810e-02 9.99935747e-01 1.46229860e-03 -1.45056167e+00] [ 2.81518850e-02 -1.14533122e-03 9.99603001e-01 -1.12522920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762414037 meters 0.07536881265539015 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.45, Z:-0.11 [[ 9.99466187e-01 1.35458497e-02 -2.97296206e-02 2.35331192e+01] [-1.35060855e-02 9.99907606e-01 1.53793829e-03 -1.44542435e+00] [ 2.97477065e-02 -1.13558652e-03 9.99556794e-01 -1.10166491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822414037 meters 0.07576354902858001 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.45, Z:-0.11 [[ 9.99470364e-01 1.38618853e-02 -2.94421463e-02 2.35906690e+01] [-1.38231331e-02 9.99903302e-01 1.51935064e-03 -1.44869958e+00] [ 2.94603604e-02 -1.11156323e-03 9.99565331e-01 -1.11321599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882414037 meters 0.07624391643818644 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.46, Z:-0.11 [[ 9.99521896e-01 1.06579693e-02 -2.90239156e-02 2.36498588e+01] [-1.06189884e-02 9.99942497e-01 1.49686858e-03 -1.45985237e+00] [ 2.90382002e-02 -1.18794829e-03 9.99577597e-01 -1.12737455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942414037 meters 0.07784924674025771 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.47, Z:-0.12 [[ 9.99521594e-01 7.58226678e-03 -2.99848850e-02 2.37090452e+01] [-7.53929430e-03 9.99970384e-01 1.54593777e-03 -1.46876414e+00] [ 2.99957187e-02 -1.31913331e-03 9.99549157e-01 -1.15468570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002414037 meters 0.07827327193351818 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.47, Z:-0.11 [[ 9.99561913e-01 2.76614947e-03 -2.94674337e-02 2.37688329e+01] [-2.72257475e-03 9.99995140e-01 1.51876164e-03 -1.47204575e+00] [ 2.94714917e-02 -1.43786900e-03 9.99564587e-01 -1.14144044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062414037 meters 0.07969408987906333 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.48, Z:-0.11 [[ 9.99554685e-01 -3.53572510e-03 -2.96298901e-02 2.38289633e+01] [ 3.58254383e-03 9.99992417e-01 1.52718031e-03 -1.48201252e+00] [ 2.96242657e-02 -1.63265062e-03 9.99559772e-01 -1.14172226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122414037 meters 0.08189074565551556 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.49, Z:-0.12 [[ 9.99518893e-01 -9.16263394e-03 -2.96315521e-02 2.38882907e+01] [ 9.21191796e-03 9.99956403e-01 1.52714101e-03 -1.49456996e+00] [ 2.96162676e-02 -1.79936972e-03 9.99559723e-01 -1.16247877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182414037 meters 0.08332363231776713 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.50, Z:-0.12 [[ 9.99505123e-01 -1.22805231e-02 -2.89602957e-02 2.39481088e+01] [ 1.23288877e-02 9.99922883e-01 1.49205524e-03 -1.50138050e+00] [ 2.89397391e-02 -1.84836509e-03 9.99579449e-01 -1.16684514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242414037 meters 0.0817112203131815 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.50, Z:-0.11 [[ 9.99565344e-01 -9.99097689e-03 -2.77363315e-02 2.40086465e+01] [ 1.00344319e-02 9.99948634e-01 1.42797171e-03 -1.49579329e+00] [ 2.77206400e-02 -1.70566937e-03 9.99614254e-01 -1.13609895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302414037000002 meters 0.08179478812709141 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.50, Z:-0.12 [[ 9.99534992e-01 -7.33592527e-03 -2.95970296e-02 2.40672702e+01] [ 7.38419110e-03 9.99971579e-01 1.52179522e-03 -1.49848511e+00] [ 2.95850247e-02 -1.73963770e-03 9.99560754e-01 -1.17417709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362414037 meters 0.0804713709183894 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.50, Z:-0.12 [[ 9.99587301e-01 -3.13734713e-03 -2.85549310e-02 2.41274596e+01] [ 3.18056389e-03 9.99993864e-01 1.46816653e-03 -1.49548418e+00] [ 2.85501497e-02 -1.55838141e-03 9.99591147e-01 -1.16891906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422414037 meters 0.07918890236396486 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.49, Z:-0.11 [[ 9.99626728e-01 -4.01407696e-05 -2.73203879e-02 2.41876432e+01] [ 7.85337560e-05 9.99999011e-01 1.40421548e-03 -1.49067032e+00] [ 2.73203045e-02 -1.40583689e-03 9.99625742e-01 -1.13888336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482414037 meters 0.08092507306757332 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.50, Z:-0.12 [[ 9.99612240e-01 2.72057333e-03 -2.77122260e-02 2.42461809e+01] [-2.68216816e-03 9.99995391e-01 1.42293377e-03 -1.49581286e+00] [ 2.77159695e-02 -1.34805316e-03 9.99614930e-01 -1.18948795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542414037 meters 0.07873849417237232 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.49, Z:-0.12 [[ 9.99574146e-01 2.89779373e-03 -2.90366885e-02 2.43050264e+01] [-2.85590807e-03 9.99994821e-01 1.48387622e-03 -1.49135018e+00] [ 2.90408381e-02 -1.40031820e-03 9.99577245e-01 -1.16034316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602414037 meters 0.08167179950482512 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.50, Z:-0.12 [[ 9.99526889e-01 1.79512534e-03 -3.07046577e-02 2.43632861e+01] [-1.74780777e-03 9.99997244e-01 1.56782523e-03 -1.50018418e+00] [ 3.07073875e-02 -1.51341763e-03 9.99527271e-01 -1.22004280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662414037 meters 0.07951475989772898 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.49, Z:-0.12 [[ 9.99575541e-01 2.12805829e-04 -2.91323406e-02 2.44226216e+01] [-1.69747413e-04 9.99998890e-01 1.48049312e-03 -1.49493979e+00] [ 2.91326233e-02 -1.47491957e-03 9.99574467e-01 -1.17511872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722414037 meters 0.07922013920014068 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.49, Z:-0.12 [[ 9.99594292e-01 -5.29016887e-04 -2.84775493e-02 2.44802610e+01] [ 5.70237931e-04 9.99998801e-01 1.43939101e-03 -1.49422349e+00] [ 2.84767537e-02 -1.45504601e-03 9.99593396e-01 -1.15761793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782414037 meters 0.07933485355811327 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.50, Z:-0.11 [[ 9.99601936e-01 -2.20529451e-03 -2.81266028e-02 2.45392917e+01] [ 2.24597869e-03 9.99996477e-01 1.41495600e-03 -1.49686403e+00] [ 2.81233833e-02 -1.47756450e-03 9.99603367e-01 -1.14331344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842414037 meters 0.07969147135424605 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.50, Z:-0.12 [[ 9.99607659e-01 -2.57599268e-03 -2.78907160e-02 2.45975364e+01] [ 2.61592867e-03 9.99995605e-01 1.39548132e-03 -1.49856645e+00] [ 2.78869987e-02 -1.46789394e-03 9.99610004e-01 -1.15305158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902414037 meters 0.0802182356656289 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.50, Z:-0.12 [[ 9.99515845e-01 -3.56706834e-03 -3.09087506e-02 2.46571667e+01] [ 3.61656934e-03 9.99992265e-01 1.54576331e-03 -1.50174347e+00] [ 3.09029977e-02 -1.65679856e-03 9.99521015e-01 -1.17593580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962414037000002 meters 0.08074049418852708 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.51, Z:-0.12 [[ 9.99547560e-01 -2.96432874e-03 -2.99313790e-02 2.47146994e+01] [ 3.01040204e-03 9.99994352e-01 1.49435205e-03 -1.50620578e+00] [ 2.99267802e-02 -1.58378143e-03 9.99550839e-01 -1.18570587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022414037 meters 0.08036786575901442 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.51, Z:-0.12 [[ 9.99572658e-01 -1.41573084e-03 -2.91975595e-02 2.47740809e+01] [ 1.45882292e-03 9.99997878e-01 1.45463071e-03 -1.50767783e+00] [ 2.91954381e-02 -1.49660315e-03 9.99572602e-01 -1.17530069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082414037 meters 0.07728914376784729 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.50, Z:-0.11 [[ 9.99564488e-01 3.26282787e-03 -2.93289554e-02 2.48345112e+01] [-3.22138226e-03 9.99993745e-01 1.46026856e-03 -1.49590215e+00] [ 2.93335366e-02 -1.36515282e-03 9.99568747e-01 -1.12173488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142414037 meters 0.07692955458022559 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.50, Z:-0.11 [[ 9.99493234e-01 7.84919018e-03 -3.08490770e-02 2.48939048e+01] [-7.80554761e-03 9.99968358e-01 1.53488513e-03 -1.49825955e+00] [ 3.08601484e-02 -1.29331336e-03 9.99522875e-01 -1.14697316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202414037 meters 0.07650125232104697 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.50, Z:-0.11 [[ 9.99465985e-01 1.18592309e-02 -3.04483714e-02 2.49536642e+01] [-1.18186044e-02 9.99929012e-01 1.51390664e-03 -1.49952447e+00] [ 3.04641637e-02 -1.15324093e-03 9.99535194e-01 -1.14926237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262414037 meters 0.07604040570680172 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.50, Z:-0.11 [[ 9.99395229e-01 1.59111739e-02 -3.09194342e-02 2.50140076e+01] [-1.58712316e-02 9.99872863e-01 1.53682697e-03 -1.49858723e+00] [ 3.09399559e-02 -1.04516804e-03 9.99520699e-01 -1.14663388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322414037 meters 0.07579685394087952 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.50, Z:-0.12 [[ 9.99358048e-01 1.93319257e-02 -3.01623549e-02 2.50727240e+01] [-1.92955190e-02 9.99812702e-01 1.49765212e-03 -1.49903093e+00] [ 3.01856580e-02 -9.14692406e-04 9.99543891e-01 -1.15588571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382414037 meters 0.07547577509866571 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.50, Z:-0.11 [[ 9.99359851e-01 1.91428799e-02 -3.02231314e-02 2.51301793e+01] [-1.91064971e-02 9.99816341e-01 1.49216845e-03 -1.50105495e+00] [ 3.02461451e-02 -9.13755065e-04 9.99542063e-01 -1.13998716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442414037 meters 0.07649705604671579 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.51, Z:-0.12 [[ 9.99376860e-01 1.55989951e-02 -3.16632757e-02 2.51885423e+01] [-1.55573084e-02 9.99877757e-01 1.56250847e-03 -1.51251346e+00] [ 3.16837787e-02 -1.06893946e-03 9.99497371e-01 -1.17888556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502414037 meters 0.07705896168103545 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.52, Z:-0.12 [[ 9.99362395e-01 1.27894265e-02 -3.33351894e-02 2.52489102e+01] [-1.27416569e-02 9.99917469e-01 1.64505504e-03 -1.52049002e+00] [ 3.33534775e-02 -1.21926060e-03 9.99442874e-01 -1.18785689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562414037 meters 0.07676183599694719 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.52, Z:-0.12 [[ 9.99361692e-01 1.02617938e-02 -3.42184837e-02 2.53086831e+01] [-1.02100203e-02 9.99946453e-01 1.68742527e-03 -1.52187994e+00] [ 3.42339674e-02 -1.33697676e-03 9.99412952e-01 -1.16858664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622414037 meters 0.07748599417727112 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.53, Z:-0.12 [[ 9.99436783e-01 9.73772750e-03 -3.21137535e-02 2.53665522e+01] [-9.69211324e-03 9.99951789e-01 1.57575946e-03 -1.52943068e+00] [ 3.21275496e-02 -1.26362183e-03 9.99482978e-01 -1.18283830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682414037 meters 0.07652684933624679 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.53, Z:-0.11 [[ 9.99496772e-01 1.07830023e-02 -2.98316930e-02 2.54259317e+01] [-1.07441318e-02 9.99941210e-01 1.46298499e-03 -1.53369186e+00] [ 2.98457145e-02 -1.14173314e-03 9.99553865e-01 -1.13750961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742414037 meters 0.0763470030071385 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.54, Z:-0.11 [[ 9.99495927e-01 1.19893387e-02 -2.93963815e-02 2.54851418e+01] [-1.19523133e-02 9.99927539e-01 1.43491792e-03 -1.53673510e+00] [ 2.94114551e-02 -1.08283986e-03 9.99566803e-01 -1.13600647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802414037000002 meters 0.07563276465684429 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.54, Z:-0.11 [[ 9.99360621e-01 1.54198276e-02 -3.22579859e-02 2.55442469e+01] [-1.53772777e-02 9.99880535e-01 1.56673434e-03 -1.53661934e+00] [ 3.22782910e-02 -1.06969260e-03 9.99478348e-01 -1.12184610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862414037 meters 0.07583468958703309 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.54, Z:-0.11 [[ 9.99285478e-01 1.64100912e-02 -3.40476594e-02 2.56032058e+01] [-1.63635401e-02 9.99864754e-01 1.64545265e-03 -1.54217947e+00] [ 3.40700566e-02 -1.08713669e-03 9.99418856e-01 -1.14385340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922414037 meters 0.07613108096168239 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.55, Z:-0.12 [[ 9.99334623e-01 1.68377966e-02 -3.23542952e-02 2.56607404e+01] [-1.67960702e-02 9.99857717e-01 1.56104104e-03 -1.55042227e+00] [ 3.23759763e-02 -1.01657734e-03 9.99475244e-01 -1.15424731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982414037 meters 0.07589728767235224 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.55, Z:-0.11 [[ 9.99367763e-01 1.64888748e-02 -3.14990557e-02 2.57194020e+01] [-1.64493950e-02 9.99863556e-01 1.51210531e-03 -1.55495921e+00] [ 3.15196908e-02 -9.93008887e-04 9.99502638e-01 -1.13249010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042414037 meters 0.0759259549150525 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.56, Z:-0.11 [[ 9.99318035e-01 1.72179868e-02 -3.26650556e-02 2.57775339e+01] [-1.71760014e-02 9.99851256e-01 1.56551608e-03 -1.55947558e+00] [ 3.26871519e-02 -1.00339341e-03 9.99465129e-01 -1.13612047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102414037 meters 0.0764907345749911 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.57, Z:-0.12 [[ 9.99287720e-01 1.59977221e-02 -3.41778537e-02 2.58356070e+01] [-1.59510997e-02 9.99871434e-01 1.63636240e-03 -1.56881811e+00] [ 3.41996377e-02 -1.09002250e-03 9.99414427e-01 -1.17120709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162414037 meters 0.0769500639688212 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.58, Z:-0.12 [[ 9.99326281e-01 1.28525433e-02 -3.43772492e-02 2.58945299e+01] [-1.28035743e-02 9.99916679e-01 1.64423058e-03 -1.57776357e+00] [ 3.43955174e-02 -1.20297117e-03 9.99407575e-01 -1.16893359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222414037 meters 0.07648745806423028 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.58, Z:-0.11 [[ 9.99413554e-01 1.06213522e-02 -3.25535829e-02 2.59518907e+01] [-1.05765590e-02 9.99942869e-01 1.54787882e-03 -1.58206679e+00] [ 3.25681636e-02 -1.20266619e-03 9.99468793e-01 -1.12946340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282414037 meters 0.07918416017608067 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.60, Z:-0.12 [[ 9.99418047e-01 6.23984266e-03 -3.35355349e-02 2.60102215e+01] [-6.18985056e-03 9.99979572e-01 1.59433375e-03 -1.60117988e+00] [ 3.35447982e-02 -1.38582597e-03 9.99436254e-01 -1.19909071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342414037 meters 0.07845659821314756 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.60, Z:-0.12 [[ 9.99404683e-01 3.17942240e-03 -3.43536184e-02 2.60704653e+01] [-3.12517536e-03 9.99993784e-01 1.63265918e-03 -1.60363763e+00] [ 3.43585958e-02 -1.52432615e-03 9.99408407e-01 -1.16668338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402414037 meters 0.07713412975908919 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.61, Z:-0.11 [[ 9.99403455e-01 2.13329024e-03 -3.44700441e-02 2.61288814e+01] [-2.07835632e-03 9.99996513e-01 1.62942402e-03 -1.60505880e+00] [ 3.44734000e-02 -1.55681096e-03 9.99404403e-01 -1.12542102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462414037 meters 0.0768334998889994 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.61, Z:-0.11 [[ 9.99430182e-01 1.32233976e-03 -3.37277663e-02 2.61861071e+01] [-1.26961448e-03 9.99997939e-01 1.58462921e-03 -1.61253484e+00] [ 3.37297922e-02 -1.54090500e-03 9.99429801e-01 -1.12424412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522414037 meters 0.07688106334024382 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.62, Z:-0.11 [[ 9.99417268e-01 3.30458760e-03 -3.39735857e-02 2.62438990e+01] [-3.25232656e-03 9.99993442e-01 1.59343223e-03 -1.61934512e+00] [ 3.39786285e-02 -1.48201049e-03 9.99421461e-01 -1.13756378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582414037 meters 0.07701840404739176 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.62, Z:-0.11 [[ 9.99443411e-01 4.99955799e-03 -3.29829238e-02 2.63020916e+01] [-4.95129688e-03 9.99986549e-01 1.54472990e-03 -1.62292886e+00] [ 3.29902031e-02 -1.38056187e-03 9.99454722e-01 -1.13905653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642414037 meters 0.07718461126725401 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.63, Z:-0.11 [[ 9.99460536e-01 6.59829295e-03 -3.21729732e-02 2.63596280e+01] [-6.55328891e-03 9.99977396e-01 1.50406238e-03 -1.63140715e+00] [ 3.21821702e-02 -1.29241221e-03 9.99481184e-01 -1.14323917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702414037 meters 0.07636549897408923 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.63, Z:-0.11 [[ 9.99372948e-01 6.57091032e-03 -3.47927254e-02 2.64181398e+01] [-6.51856142e-03 9.99977445e-01 1.61781417e-03 -1.63164607e+00] [ 3.48025712e-02 -1.39000120e-03 9.99393240e-01 -1.12647371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762414037 meters 0.07684374212391831 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.64, Z:-0.12 [[ 9.99273410e-01 7.01443777e-03 -3.74626506e-02 2.64759795e+01] [-6.95422847e-03 9.99974310e-01 1.73724952e-03 -1.63706382e+00] [ 3.74738740e-02 -1.47546342e-03 9.99296518e-01 -1.16065410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822414037 meters 0.0780820200864022 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.65, Z:-0.12 [[ 9.99341982e-01 4.99998980e-03 -3.59249641e-02 2.65336547e+01] [-4.94343330e-03 9.99986398e-01 1.66294837e-03 -1.64616858e+00] [ 3.59327902e-02 -1.48426146e-03 9.99353107e-01 -1.18976012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882414037 meters 0.07755951788632308 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.65, Z:-0.11 [[ 9.99347469e-01 -1.01485258e-03 -3.61054804e-02 2.65939270e+01] [ 1.07589158e-03 9.99998025e-01 1.67118540e-03 -1.65138748e+00] [ 3.61037131e-02 -1.70894048e-03 9.99346587e-01 -1.13868326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942414037 meters 0.07922434813486456 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.66, Z:-0.12 [[ 9.99360688e-01 -5.94165985e-03 -3.52549475e-02 2.66527556e+01] [ 6.00289075e-03 9.99980652e-01 1.63120756e-03 -1.66156942e+00] [ 3.52445733e-02 -1.84179631e-03 9.99377020e-01 -1.15426823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002414037 meters 0.08297733550221591 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.68, Z:-0.12 [[ 9.99259897e-01 -1.41969436e-02 -3.57505883e-02 2.67110291e+01] [ 1.42651396e-02 9.99896881e-01 1.65318414e-03 -1.67781978e+00] [ 3.57234316e-02 -2.16194775e-03 9.99359376e-01 -1.18546157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062414037 meters 0.08245917097877878 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.68, Z:-0.11 [[ 9.99219694e-01 -1.93003009e-02 -3.44601497e-02 2.67713897e+01] [ 1.93666760e-02 9.99811179e-01 1.59336170e-03 -1.68125243e+00] [ 3.44228905e-02 -2.25949694e-03 9.99404803e-01 -1.14848169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122414037 meters 0.08413132053646775 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.69, Z:-0.12 [[ 9.99002407e-01 -2.67672760e-02 -3.57449960e-02 2.68313627e+01] [ 2.68434508e-02 9.99638283e-01 1.65276796e-03 -1.69035846e+00] [ 3.56878264e-02 -2.61063822e-03 9.99359577e-01 -1.16738422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182414037 meters 0.0867624020514816 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.70, Z:-0.12 [[ 9.98978422e-01 -3.00741847e-02 -3.37291533e-02 2.68903732e+01] [ 3.01438674e-02 9.99544354e-01 1.55923064e-03 -1.69758723e+00] [ 3.36668922e-02 -2.57436489e-03 9.99429794e-01 -1.17364943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242414037 meters 0.08563486144129193 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.69, Z:-0.12 [[ 9.98787136e-01 -3.46232336e-02 -3.50069737e-02 2.69504504e+01] [ 3.47010618e-02 9.99396427e-01 1.61791213e-03 -1.69468513e+00] [ 3.49298271e-02 -2.83072898e-03 9.99385758e-01 -1.15242676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302414037000002 meters 0.08810451616250635 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.70, Z:-0.12 [[ 9.98664051e-01 -3.82483339e-02 -3.47444809e-02 2.70093291e+01] [ 3.83271543e-02 9.99263956e-01 1.60514027e-03 -1.70367670e+00] [ 3.46575135e-02 -2.93465296e-03 9.99394939e-01 -1.17084715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362414037 meters 0.09133484178277161 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.71, Z:-0.12 [[ 9.98493288e-01 -4.33137244e-02 -3.36908797e-02 2.70684252e+01] [ 4.33906768e-02 9.99056969e-01 1.55594956e-03 -1.71160585e+00] [ 3.35917142e-02 -3.01547526e-03 9.99431090e-01 -1.16793724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422414037 meters 0.08807546361949105 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.70, Z:-0.11 [[ 9.98435113e-01 -4.42392088e-02 -3.42084512e-02 2.71275877e+01] [ 4.43187855e-02 9.99016205e-01 1.57110762e-03 -1.69984651e+00] [ 3.41052926e-02 -3.08472603e-03 9.99413485e-01 -1.13197566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482414037 meters 0.08924501874948643 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.70, Z:-0.12 [[ 9.98431935e-01 -4.47715232e-02 -3.36032995e-02 2.71852672e+01] [ 4.48482898e-02 9.98992632e-01 1.53386542e-03 -1.70350328e+00] [ 3.35007751e-02 -3.03851073e-03 9.99434073e-01 -1.15647063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542414037 meters 0.08917166169667015 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.70, Z:-0.12 [[ 9.98330683e-01 -4.52489120e-02 -3.58940460e-02 2.72450057e+01] [ 4.53367818e-02 9.98970417e-01 1.63748322e-03 -1.69828597e+00] [ 3.57829958e-02 -3.26207028e-03 9.99354260e-01 -1.17582178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602414037 meters 0.08950652749638534 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.69, Z:-0.12 [[ 9.98246689e-01 -4.60567459e-02 -3.71796126e-02 2.73041986e+01] [ 4.61515101e-02 9.98933015e-01 1.69415667e-03 -1.69489383e+00] [ 3.70619151e-02 -3.40708155e-03 9.99307163e-01 -1.17316508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662414037 meters 0.088867783931163 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.69, Z:-0.11 [[ 9.98253420e-01 -4.79815861e-02 -3.44655872e-02 2.73628134e+01] [ 4.80640411e-02 9.98843026e-01 1.56738008e-03 -1.69183612e+00] [ 3.43505060e-02 -3.22119793e-03 9.99404656e-01 -1.14164252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722414037 meters 0.09228428053653008 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.70, Z:-0.12 [[ 9.98232154e-01 -4.97497599e-02 -3.25196537e-02 2.74211777e+01] [ 4.98240368e-02 9.98756919e-01 1.47721653e-03 -1.69789162e+00] [ 3.24057380e-02 -3.09486546e-03 9.99470005e-01 -1.15442490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782414037 meters 0.09314782680516959 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.70, Z:-0.12 [[ 9.98196882e-01 -5.04747736e-02 -3.24851078e-02 2.74795292e+01] [ 5.05491820e-02 9.98720487e-01 1.47283960e-03 -1.70000617e+00] [ 3.23692014e-02 -3.11227952e-03 9.99471134e-01 -1.15139679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842414037 meters 0.09252893780570264 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.70, Z:-0.11 [[ 9.98037390e-01 -5.22358105e-02 -3.45367659e-02 2.75398967e+01] [ 5.23209576e-02 9.98629093e-01 1.56563163e-03 -1.69587683e+00] [ 3.44076372e-02 -3.36955557e-03 9.99402202e-01 -1.14438698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902414037 meters 0.09382897005333636 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.70, Z:-0.11 [[ 9.97993446e-01 -5.26761569e-02 -3.51326640e-02 2.75987506e+01] [ 5.27642358e-02 9.98605741e-01 1.58396360e-03 -1.69814425e+00] [ 3.50002429e-02 -3.43453346e-03 9.99381402e-01 -1.14513004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962414037 meters 0.09061593161915667 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.69, Z:-0.11 [[ 9.98132902e-01 -4.95200928e-02 -3.57557060e-02 2.76592671e+01] [ 4.96093263e-02 9.98767398e-01 1.61223416e-03 -1.68925775e+00] [ 3.56317954e-02 -3.38304045e-03 9.99359260e-01 -1.12922017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022414037 meters 0.09007324017078942 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.69, Z:-0.11 [[ 9.98280359e-01 -4.63845801e-02 -3.58440445e-02 2.77201509e+01] [ 4.64722483e-02 9.98918274e-01 1.61611427e-03 -1.68543761e+00] [ 3.57303083e-02 -3.27908848e-03 9.99356089e-01 -1.12912630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082414037 meters 0.08883011165736986 Centerline is valid? [True, True] Translation: X:27.78, Y:-1.68, Z:-0.11 [[ 9.98465066e-01 -3.97638756e-02 -3.85531571e-02 2.77806738e+01] [ 3.98604000e-02 9.99203747e-01 1.73795039e-03 -1.67901631e+00] [ 3.84533514e-02 -3.27202701e-03 9.99255039e-01 -1.13962464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142414037 meters 0.08421807100032191 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.66, Z:-0.11 [[ 9.98669773e-01 -3.28516197e-02 -3.97423607e-02 2.78415905e+01] [ 3.29487559e-02 9.99455437e-01 1.79145327e-03 -1.66371694e+00] [ 3.96618664e-02 -3.09853157e-03 9.99208354e-01 -1.11381063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202414037 meters 0.08517926913919277 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.66, Z:-0.11 [[ 9.98854312e-01 -2.91912441e-02 -3.79201066e-02 2.79010066e+01] [ 2.92770028e-02 9.99569877e-01 1.70812214e-03 -1.66468472e+00] [ 3.78539340e-02 -2.81635224e-03 9.99279314e-01 -1.12312624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262414037 meters 0.08412767573865923 Centerline is valid? [True, True] Translation: X:27.96, Y:-1.66, Z:-0.11 [[ 9.98978804e-01 -2.64059636e-02 -3.66616300e-02 2.79619591e+01] [ 2.64842475e-02 9.99647867e-01 1.65122803e-03 -1.65792982e+00] [ 3.66051180e-02 -2.62049749e-03 9.99326372e-01 -1.11243451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322414037 meters 0.08454502847151098 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.66, Z:-0.11 [[ 9.98986125e-01 -2.61100706e-02 -3.66740622e-02 2.80205840e+01] [ 2.61878806e-02 9.99655689e-01 1.64281595e-03 -1.65857019e+00] [ 3.66185408e-02 -2.60156630e-03 9.99325930e-01 -1.12052785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382414037 meters 0.08507758425203572 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.66, Z:-0.11 [[ 9.99057924e-01 -2.60306292e-02 -3.47227726e-02 2.80795171e+01] [ 2.61002523e-02 9.99658124e-01 1.55327355e-03 -1.66050675e+00] [ 3.46704690e-02 -2.45808337e-03 9.99395776e-01 -1.12850259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442414037 meters 0.08486701837891102 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.66, Z:-0.11 [[ 9.99101289e-01 -2.28625605e-02 -3.56919715e-02 2.81400362e+01] [ 2.29340973e-02 9.99735705e-01 1.59610351e-03 -1.65607759e+00] [ 3.56460473e-02 -2.41323223e-03 9.99361564e-01 -1.12653172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502414037 meters 0.08216484962893497 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.65, Z:-0.11 [[ 9.99151988e-01 -2.14413314e-02 -3.51507276e-02 2.82002124e+01] [ 2.15097949e-02 9.99767404e-01 1.57066686e-03 -1.64723527e+00] [ 3.51088745e-02 -2.32541985e-03 9.99380788e-01 -1.09482361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562414037 meters 0.08241853969167592 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.65, Z:-0.11 [[ 9.99238252e-01 -2.04586394e-02 -3.32318990e-02 2.82603994e+01] [ 2.05192685e-02 9.99788356e-01 1.48437303e-03 -1.64861103e+00] [ 3.31944974e-02 -2.16513657e-03 9.99446566e-01 -1.10512208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622414037 meters 0.08188226984520236 Centerline is valid? [True, True] Translation: X:28.32, Y:-1.65, Z:-0.11 [[ 9.99294124e-01 -1.97432277e-02 -3.19602526e-02 2.83197556e+01] [ 1.97988172e-02 9.99802970e-01 1.42376911e-03 -1.64764851e+00] [ 3.19258456e-02 -2.05553930e-03 9.99488127e-01 -1.09056047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682414037 meters 0.08208810798860525 Centerline is valid? [True, True] Translation: X:28.38, Y:-1.64, Z:-0.11 [[ 9.99330639e-01 -1.58105969e-02 -3.29893673e-02 2.83791428e+01] [ 1.58676587e-02 9.99873022e-01 1.46860091e-03 -1.64437515e+00] [ 3.29619589e-02 -1.99108191e-03 9.99454624e-01 -1.09372002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742414037 meters 0.08051926174993944 Centerline is valid? [True, True] Translation: X:28.44, Y:-1.64, Z:-0.11 [[ 9.99380435e-01 -1.37484247e-02 -3.23995051e-02 2.84395014e+01] [ 1.38023658e-02 9.99903703e-01 1.44179859e-03 -1.64231214e+00] [ 3.23765627e-02 -1.88809512e-03 9.99473958e-01 -1.08145073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802414037 meters 0.08107756442750595 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.65, Z:-0.11 [[ 9.99388113e-01 -1.30834305e-02 -3.24380002e-02 2.84972424e+01] [ 1.31370144e-02 9.99912670e-01 1.43930102e-03 -1.64621473e+00] [ 3.24163364e-02 -1.86455880e-03 9.99472713e-01 -1.09431756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862414037 meters 0.08068130715913047 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.65, Z:-0.11 [[ 9.99381260e-01 -1.40964862e-02 -3.22239950e-02 2.85559735e+01] [ 1.41496337e-02 9.99898878e-01 1.42186218e-03 -1.64521862e+00] [ 3.22006932e-02 -1.87694014e-03 9.99479661e-01 -1.07838976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922414037 meters 0.08123073861773328 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.65, Z:-0.11 [[ 9.99334898e-01 -1.64633744e-02 -3.25379738e-02 2.86149778e+01] [ 1.65187654e-02 9.99862527e-01 1.43425007e-03 -1.65092669e+00] [ 3.25098881e-02 -1.97078330e-03 9.99469471e-01 -1.09495094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982414037 meters 0.08516391234877635 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.67, Z:-0.12 [[ 9.99290757e-01 -1.81504741e-02 -3.29930877e-02 2.86727914e+01] [ 1.82082865e-02 9.99833160e-01 1.45262214e-03 -1.66775417e+00] [ 3.29612173e-02 -2.05233947e-03 9.99454524e-01 -1.15389102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042414037 meters 0.0815093195576019 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.66, Z:-0.11 [[ 9.99300743e-01 -1.73303986e-02 -3.31312996e-02 2.87316811e+01] [ 1.73879745e-02 9.99847766e-01 1.45045783e-03 -1.65787339e+00] [ 3.31011188e-02 -2.02552978e-03 9.99449955e-01 -1.09075844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102414037 meters 0.08143779061168133 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.66, Z:-0.11 [[ 9.99331607e-01 -1.43659034e-02 -3.36148820e-02 2.87917926e+01] [ 1.44234924e-02 9.99894894e-01 1.47132505e-03 -1.65915519e+00] [ 3.35902120e-02 -1.95518562e-03 9.99433777e-01 -1.11130649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162414037 meters 0.08025888923295176 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.66, Z:-0.11 [[ 9.99484424e-01 -7.90360232e-03 -3.11194242e-02 2.88522240e+01] [ 7.94983060e-03 9.99967472e-01 1.36206326e-03 -1.66132161e+00] [ 3.11076468e-02 -1.60875516e-03 9.99514745e-01 -1.11983948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222414037 meters 0.0780849734613843 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.66, Z:-0.11 [[ 9.99498917e-01 -1.88754006e-03 -3.15966965e-02 2.89124742e+01] [ 1.93219612e-03 9.99997177e-01 1.38284070e-03 -1.65610569e+00] [ 3.15939972e-02 -1.44319880e-03 9.99499743e-01 -1.09235558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282414037 meters 0.07671781126885685 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.65, Z:-0.11 [[ 9.99460922e-01 8.88752275e-03 -3.16050323e-02 2.89726504e+01] [-8.84824189e-03 9.99959898e-01 1.38251224e-03 -1.64922953e+00] [ 3.16160520e-02 -1.10211799e-03 9.99499480e-01 -1.07920839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342414037 meters 0.07699264313928757 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.66, Z:-0.11 [[ 9.99457399e-01 1.23070409e-02 -3.05523324e-02 2.90314277e+01] [-1.22719626e-02 9.99923805e-01 1.33539239e-03 -1.65641163e+00] [ 3.05664392e-02 -9.59730719e-04 9.99532276e-01 -1.10513107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402414037 meters 0.07659776058394946 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.66, Z:-0.11 [[ 9.99511761e-01 1.20512669e-02 -2.88271824e-02 2.90900694e+01] [-1.20201417e-02 9.99926971e-01 1.25276775e-03 -1.66381085e+00] [ 2.88401746e-02 -9.05649278e-04 9.99583625e-01 -1.09719490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462414037 meters 0.07708278226372177 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.67, Z:-0.11 [[ 9.99571377e-01 8.45940556e-03 -2.80267828e-02 2.91487822e+01] [-8.42860985e-03 9.99963738e-01 1.21675246e-03 -1.67260803e+00] [ 2.80360596e-02 -9.80004117e-04 9.99606432e-01 -1.11056034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522414037 meters 0.07791968352982304 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.68, Z:-0.11 [[ 9.99553436e-01 -1.16763608e-03 -2.98590957e-02 2.92082102e+01] [ 1.20686673e-03 9.99998432e-01 1.29587094e-03 -1.68473731e+00] [ 2.98575358e-02 -1.33132820e-03 9.99553278e-01 -1.09626633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582414037 meters 0.08063053121459525 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.70, Z:-0.11 [[ 9.99493271e-01 -8.57559467e-03 -3.06538950e-02 2.92671033e+01] [ 8.62040242e-03 9.99961959e-01 1.32987239e-03 -1.70335680e+00] [ 3.06413245e-02 -1.59344742e-03 9.99529174e-01 -1.14819332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642414037 meters 0.08237240307270004 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.72, Z:-0.12 [[ 9.99365278e-01 -1.89502436e-02 -3.01650196e-02 2.93263845e+01] [ 1.89983262e-02 9.99818660e-01 1.30815289e-03 -1.72046141e+00] [ 3.01347597e-02 -1.88040746e-03 9.99544076e-01 -1.15052005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702414037 meters 0.08380822555714289 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.73, Z:-0.11 [[ 9.99311945e-01 -2.15034460e-02 -3.02198321e-02 2.93848721e+01] [ 2.15528344e-02 9.99766853e-01 1.30948326e-03 -1.72809903e+00] [ 3.01846280e-02 -1.95990530e-03 9.99542419e-01 -1.14937767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762414037 meters 0.08271474045908672 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.73, Z:-0.11 [[ 9.99318784e-01 -2.57581573e-02 -2.64288842e-02 2.94447176e+01] [ 2.57973963e-02 9.99666536e-01 1.14476330e-03 -1.72810933e+00] [ 2.63905841e-02 -1.82577987e-03 9.99650041e-01 -1.08048393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822414037 meters 0.08354571946801986 Centerline is valid? [True, True] Translation: X:29.50, Y:-1.74, Z:-0.11 [[ 9.99273161e-01 -2.76304445e-02 -2.62622966e-02 2.95033578e+01] [ 2.76697790e-02 9.99616473e-01 1.13546851e-03 -1.73695850e+00] [ 2.62208508e-02 -1.86131515e-03 9.99654442e-01 -1.08181392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882414037 meters 0.0838384923019082 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.74, Z:-0.11 [[ 9.99120808e-01 -3.06443808e-02 -2.86099985e-02 2.95631081e+01] [ 3.06922934e-02 9.99528115e-01 1.23693974e-03 -1.74391883e+00] [ 2.85585927e-02 -2.11395871e-03 9.99589885e-01 -1.11748782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942414037 meters 0.08596062261672062 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.75, Z:-0.11 [[ 9.99034931e-01 -3.33363840e-02 -2.85988071e-02 2.96215351e+01] [ 3.33853424e-02 9.99441790e-01 1.23599526e-03 -1.75233052e+00] [ 2.85416394e-02 -2.18958341e-03 9.99590206e-01 -1.13128199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002414037 meters 0.08519988824012162 Centerline is valid? [True, True] Translation: X:29.68, Y:-1.75, Z:-0.11 [[ 9.98968773e-01 -3.59942635e-02 -2.76731583e-02 2.96819443e+01] [ 3.60411164e-02 9.99349592e-01 1.19600804e-03 -1.75342277e+00] [ 2.76121100e-02 -2.19214620e-03 9.99616309e-01 -1.10839816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062414037 meters 0.08969341356649929 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.77, Z:-0.11 [[ 9.98910323e-01 -3.71557357e-02 -2.82421338e-02 2.97395715e+01] [ 3.72049350e-02 9.99306914e-01 1.21839370e-03 -1.76594467e+00] [ 2.81772893e-02 -2.26781280e-03 9.99600369e-01 -1.14706442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122414037 meters 0.08883708923711692 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.77, Z:-0.11 [[ 9.98834084e-01 -3.96618659e-02 -2.75210742e-02 2.97991988e+01] [ 3.97095175e-02 9.99210561e-01 1.18688257e-03 -1.77018123e+00] [ 2.74522740e-02 -2.27834734e-03 9.99620519e-01 -1.13834401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182414037 meters 0.08938052788140911 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.77, Z:-0.11 [[ 9.98754148e-01 -4.08613389e-02 -2.86444100e-02 2.98583250e+01] [ 4.09134087e-02 9.99161934e-01 1.23382654e-03 -1.77424439e+00] [ 2.85699882e-02 -2.40422983e-03 9.99588903e-01 -1.14250472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242414037 meters 0.08679081412594256 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.77, Z:-0.11 [[ 9.98739120e-01 -4.07233328e-02 -2.93560942e-02 2.99173922e+01] [ 4.07777446e-02 9.99167451e-01 1.25698516e-03 -1.76541428e+00] [ 2.92804652e-02 -2.45247557e-03 9.99568227e-01 -1.11914758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302414037 meters 0.08832787960186798 Centerline is valid? [True, True] Translation: X:29.98, Y:-1.77, Z:-0.12 [[ 9.98750912e-01 -3.92411424e-02 -3.09313562e-02 2.99753480e+01] [ 3.93007713e-02 9.99226552e-01 1.32195238e-03 -1.77017925e+00] [ 3.08555575e-02 -2.53592731e-03 9.99520637e-01 -1.16885202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362414037 meters 0.08672354031733868 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.77, Z:-0.11 [[ 9.98914012e-01 -3.74488488e-02 -2.77196635e-02 3.00364075e+01] [ 3.74960466e-02 9.99296074e-01 1.18467547e-03 -1.76683338e+00] [ 2.76557862e-02 -2.22276672e-03 9.99615034e-01 -1.14986743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422414037 meters 0.08953708459870034 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.77, Z:-0.12 [[ 9.98965344e-01 -3.64610236e-02 -2.71815213e-02 3.00946730e+01] [ 3.65059900e-02 9.99332761e-01 1.15973712e-03 -1.76994351e+00] [ 2.71210995e-02 -2.15082554e-03 9.99629841e-01 -1.16616755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482414037 meters 0.08642241201063233 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.76, Z:-0.11 [[ 9.98938775e-01 -3.66833438e-02 -2.78505948e-02 3.01541818e+01] [ 3.67304426e-02 9.99324511e-01 1.18125991e-03 -1.76040134e+00] [ 2.77884495e-02 -2.20297100e-03 9.99611399e-01 -1.13762342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542414037 meters 0.08718362406900348 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.76, Z:-0.11 [[ 9.98875613e-01 -3.81414061e-02 -2.81557076e-02 3.02138903e+01] [ 3.81900980e-02 9.99269779e-01 1.19347192e-03 -1.76265369e+00] [ 2.80896270e-02 -2.26739922e-03 9.99602837e-01 -1.14750369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602414037 meters 0.08981975819135234 Centerline is valid? [True, True] Translation: X:30.27, Y:-1.77, Z:-0.12 [[ 9.98761750e-01 -4.04639716e-02 -2.89419191e-02 3.02726843e+01] [ 4.05163618e-02 9.99178123e-01 1.22580729e-03 -1.76587804e+00] [ 2.88685313e-02 -2.39691070e-03 9.99580343e-01 -1.17435269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662414037 meters 0.08932695663000881 Centerline is valid? [True, True] Translation: X:30.33, Y:-1.76, Z:-0.12 [[ 9.98658759e-01 -4.27622964e-02 -2.91902234e-02 3.03330303e+01] [ 4.28165504e-02 9.99082187e-01 1.23584151e-03 -1.76040465e+00] [ 2.91105848e-02 -2.48400862e-03 9.99573111e-01 -1.16811555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722414037 meters 0.09062123215705924 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.76, Z:-0.12 [[ 9.98687091e-01 -4.32701643e-02 -2.74187367e-02 3.03918389e+01] [ 4.33181808e-02 9.99060654e-01 1.15940320e-03 -1.76146772e+00] [ 2.73428134e-02 -2.34561080e-03 9.99623363e-01 -1.17521356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782414037 meters 0.09114289904142278 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.76, Z:-0.12 [[ 9.98739191e-01 -4.26567933e-02 -2.64655546e-02 3.04523067e+01] [ 4.27013036e-02 9.99087257e-01 1.11869209e-03 -1.75852652e+00] [ 2.63936785e-02 -2.24739532e-03 9.99649100e-01 -1.17034308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842414037 meters 0.09225339011054293 Centerline is valid? [True, True] Translation: X:30.51, Y:-1.76, Z:-0.12 [[ 9.98663603e-01 -4.41182101e-02 -2.69182244e-02 3.05127127e+01] [ 4.41647840e-02 9.99023612e-01 1.13784645e-03 -1.75833947e+00] [ 2.68417420e-02 -2.32516340e-03 9.99636991e-01 -1.16803601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902414037 meters 0.09329975571115248 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.76, Z:-0.12 [[ 9.98540762e-01 -4.62511636e-02 -2.78778898e-02 3.05731589e+01] [ 4.63019325e-02 9.98926796e-01 1.17800484e-03 -1.75755027e+00] [ 2.77934870e-02 -2.46708603e-03 9.99610642e-01 -1.18006273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962414037 meters 0.09146604096150487 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.75, Z:-0.12 [[ 9.98398457e-01 -4.87517389e-02 -2.87017280e-02 3.06342784e+01] [ 4.88065818e-02 9.98807512e-01 1.21292083e-03 -1.75180176e+00] [ 2.86083695e-02 -2.61181151e-03 9.99587285e-01 -1.17864428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022414037 meters 0.09316937737714762 Centerline is valid? [True, True] Translation: X:30.70, Y:-1.75, Z:-0.12 [[ 9.98324004e-01 -5.08394615e-02 -2.76501814e-02 3.06953827e+01] [ 5.08911649e-02 9.98703521e-01 1.16897117e-03 -1.75255717e+00] [ 2.75549037e-02 -2.57416192e-03 9.99616977e-01 -1.17363923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082414037 meters 0.09523745283245397 Centerline is valid? [True, True] Translation: X:30.76, Y:-1.75, Z:-0.12 [[ 9.98279440e-01 -5.14244671e-02 -2.81723799e-02 3.07555129e+01] [ 5.14783869e-02 9.98673398e-01 1.19152084e-03 -1.75182008e+00] [ 2.80737330e-02 -2.63973943e-03 9.99602370e-01 -1.19751783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142414037 meters 0.09201223982015101 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.75, Z:-0.12 [[ 9.98274073e-01 -5.15687451e-02 -2.80987502e-02 3.08167828e+01] [ 5.16224680e-02 9.98665963e-01 1.18940527e-03 -1.74680207e+00] [ 2.79999293e-02 -2.63787928e-03 9.99604445e-01 -1.19393574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202414037 meters 0.0924590959981254 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.74, Z:-0.12 [[ 9.98361520e-01 -5.08986443e-02 -2.61458064e-02 3.08788012e+01] [ 5.09449640e-02 9.98700847e-01 1.10811478e-03 -1.74014704e+00] [ 2.60554375e-02 -2.43829633e-03 9.99657526e-01 -1.15585780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262414037 meters 0.09346981427365164 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.74, Z:-0.12 [[ 9.98371150e-01 -4.93176028e-02 -2.86848641e-02 3.09398896e+01] [ 4.93727551e-02 9.98779680e-01 1.21718051e-03 -1.73965540e+00] [ 2.85898310e-02 -2.63144868e-03 9.99587764e-01 -1.18111517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322414037 meters 0.0932263294955053 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.74, Z:-0.12 [[ 9.98500769e-01 -4.68919190e-02 -2.82376197e-02 3.10003863e+01] [ 4.69444089e-02 9.98896785e-01 1.19844317e-03 -1.73852231e+00] [ 2.81502702e-02 -2.52224479e-03 9.99600520e-01 -1.21231709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382414037 meters 0.09288203840321821 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.73, Z:-0.12 [[ 9.98643018e-01 -4.49118543e-02 -2.63637691e-02 3.10618096e+01] [ 4.49569305e-02 9.98988299e-01 1.11925518e-03 -1.73482442e+00] [ 2.62868290e-02 -2.30297051e-03 9.99651789e-01 -1.20244203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442414037 meters 0.09093030154419389 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.73, Z:-0.12 [[ 9.98793719e-01 -4.32563511e-02 -2.32378094e-02 3.11234144e+01] [ 4.32909329e-02 9.99062021e-01 9.86935758e-04 -1.72627765e+00] [ 2.31733216e-02 -1.99173168e-03 9.99729478e-01 -1.16641027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502414037 meters 0.0925041938466328 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.73, Z:-0.12 [[ 9.98775470e-01 -4.34424223e-02 -2.36710221e-02 3.11842459e+01] [ 4.34783866e-02 9.99053861e-01 1.00655877e-03 -1.73014244e+00] [ 2.36048987e-02 -2.03450406e-03 9.99719295e-01 -1.19511748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562414037 meters 0.09219266694268126 Centerline is valid? [True, True] Translation: X:31.25, Y:-1.73, Z:-0.12 [[ 9.98582011e-01 -4.70854352e-02 -2.48380472e-02 3.12460024e+01] [ 4.71261679e-02 9.98888386e-01 1.05681175e-03 -1.72576480e+00] [ 2.47606764e-02 -2.22583519e-03 9.99690930e-01 -1.19180905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622414037 meters 0.09360312110550595 Centerline is valid? [True, True] Translation: X:31.31, Y:-1.73, Z:-0.12 [[ 9.98457521e-01 -4.94155156e-02 -2.53117828e-02 3.13063352e+01] [ 4.94585625e-02 9.98775596e-01 1.07707179e-03 -1.72915124e+00] [ 2.52275669e-02 -2.32729482e-03 9.99679025e-01 -1.19012902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682414037 meters 0.09847089044627778 Centerline is valid? [True, True] Translation: X:31.37, Y:-1.74, Z:-0.12 [[ 9.98298494e-01 -5.29816299e-02 -2.43528811e-02 3.13653245e+01] [ 5.30225184e-02 9.98592780e-01 1.03590275e-03 -1.73922167e+00] [ 2.42637274e-02 -2.32539125e-03 9.99702888e-01 -1.21819928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742414037 meters 0.0963767700971675 Centerline is valid? [True, True] Translation: X:31.43, Y:-1.73, Z:-0.12 [[ 9.98133893e-01 -5.63223245e-02 -2.35908151e-02 3.14261136e+01] [ 5.63616191e-02 9.98409916e-01 1.00357140e-03 -1.73327657e+00] [ 2.34967803e-02 -2.33131517e-03 9.99721194e-01 -1.19065113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802414037 meters 0.09764427011910373 Centerline is valid? [True, True] Translation: X:31.49, Y:-1.73, Z:-0.12 [[ 9.98080186e-01 -5.71829568e-02 -2.37918625e-02 3.14880262e+01] [ 5.72231968e-02 9.98360896e-01 1.01340856e-03 -1.73383236e+00] [ 2.36949155e-02 -2.37290944e-03 9.99716420e-01 -1.18449084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862414037 meters 0.10040015551862523 Centerline is valid? [True, False] Translation: X:31.48, Y:-1.73, Z:-0.13 [[ 9.98598259e-01 -5.28039704e-02 -3.64122326e-03 3.14788410e+01] [ 5.28058639e-02 9.98604706e-01 4.25767381e-04 -1.73150648e+00] [ 3.61366048e-03 -6.17448505e-04 9.99993280e-01 -1.26201393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922414037 meters 0.0973224269031375 Centerline is valid? [False, True] Translation: X:31.47, Y:-1.73, Z:-0.13 [[ 9.98966145e-01 -4.52365805e-02 4.50477939e-03 3.14681354e+01] [ 4.52356899e-02 9.98976297e-01 2.99458920e-04 -1.73112365e+00] [-4.51371434e-03 -9.53725198e-05 9.99989809e-01 -1.31068709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982414037 meters 0.0976712839301419 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.73, Z:-0.13 [[ 9.99021252e-01 -4.41267508e-02 3.06077484e-03 3.15300518e+01] [ 4.41274431e-02 9.99025897e-01 -1.58990201e-04 -1.73203506e+00] [-3.05077761e-03 2.93898758e-04 9.99995303e-01 -1.32892669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042414037 meters 0.0944185104951642 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.73, Z:-0.14 [[ 9.99118989e-01 -4.19629103e-02 6.00147083e-04 3.15920693e+01] [ 4.19629365e-02 9.99119168e-01 -3.10567001e-05 -1.72816505e+00] [-5.98315225e-04 5.62132727e-05 9.99999819e-01 -1.37271426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102414037 meters 0.09480720831880422 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.73, Z:-0.14 [[ 9.99155050e-01 -4.10586477e-02 1.83691666e-03 3.16535213e+01] [ 4.10588972e-02 9.99156723e-01 -9.83155795e-05 -1.73271860e+00] [-1.83133092e-03 1.73654280e-04 9.99998308e-01 -1.37195571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162414037 meters 0.09250007581938366 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.73, Z:-0.13 [[ 9.99330868e-01 -3.64461194e-02 3.08152248e-03 3.17148527e+01] [ 3.64468033e-02 9.99335581e-01 -1.66055527e-04 -1.72950108e+00] [-3.07342297e-03 2.78256057e-04 9.99995238e-01 -1.34864332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222414037 meters 0.0932122823690619 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.73, Z:-0.14 [[ 9.99438196e-01 -3.34926506e-02 1.23847721e-03 3.17739973e+01] [ 3.34927595e-02 9.99438958e-01 -6.73038561e-05 -1.73370379e+00] [-1.23552819e-03 1.08746064e-04 9.99999231e-01 -1.38207157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282414037 meters 0.09037195013211263 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.73, Z:-0.14 [[ 9.99649715e-01 -2.64449454e-02 -1.05484190e-03 3.18351080e+01] [ 2.64450201e-02 9.99650268e-01 5.69948078e-05 -1.73036978e+00] [ 1.05296577e-03 -8.48701588e-05 9.99999442e-01 -1.42796375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342414037 meters 0.08876952645945153 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.73, Z:-0.14 [[ 9.99771634e-01 -2.13595467e-02 -6.70209526e-04 3.18958899e+01] [ 2.13595760e-02 9.99771858e-01 3.65790323e-05 -1.72919504e+00] [ 6.69275311e-04 -5.08860702e-05 9.99999775e-01 -1.43227528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402414037 meters 0.08617278722051266 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.73, Z:-0.14 [[ 9.99945126e-01 -1.04415436e-02 8.47679565e-04 3.19553184e+01] [ 1.04415865e-02 9.99945484e-01 -4.62007747e-05 -1.72635591e+00] [-8.47150946e-04 5.50493590e-05 9.99999640e-01 -1.44787378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462414037 meters 0.08364851451372955 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.72, Z:-0.15 [[ 9.99998551e-01 -1.61838223e-03 5.27425774e-04 3.20150182e+01] [ 1.61839769e-03 9.99998690e-01 -2.88752116e-05 -1.72297500e+00] [-5.27378352e-04 2.97287544e-05 9.99999860e-01 -1.45049309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522414037 meters 0.07818673060854303 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.71, Z:-0.14 [[ 9.99923488e-01 1.22602236e-02 -1.64468807e-03 3.20767790e+01] [-1.22600936e-02 9.99924838e-01 8.91183560e-05 -1.70676319e+00] [ 1.64565706e-03 -6.89475077e-05 9.99998644e-01 -1.43542138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582414037 meters 0.07675811394226918 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.70, Z:-0.15 [[ 9.99776332e-01 2.09834691e-02 -2.64183698e-03 3.21377039e+01] [-2.09831655e-02 9.99779819e-01 1.42559159e-04 -1.70433366e+00] [ 2.64424668e-03 -8.70931706e-05 9.99996500e-01 -1.45273325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642414037 meters 0.07525381039186171 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.70, Z:-0.15 [[ 9.99492725e-01 3.18436369e-02 -5.25782810e-04 3.21980723e+01] [-3.18436265e-02 9.99492863e-01 2.81339516e-05 -1.70360774e+00] [ 5.26412054e-04 -1.13768485e-05 9.99999861e-01 -1.46907508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702414037 meters 0.07474340985400615 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.70, Z:-0.15 [[ 9.99361819e-01 3.57125907e-02 -7.51817810e-04 3.22568704e+01] [-3.57125716e-02 9.99362102e-01 3.88438826e-05 -1.70482404e+00] [ 7.52725442e-04 -1.19697458e-05 9.99999717e-01 -1.47657632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762414037 meters 0.07465881315376968 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.71, Z:-0.15 [[ 9.99324016e-01 3.67619951e-02 -2.58261330e-04 3.23155803e+01] [-3.67619932e-02 9.99324049e-01 1.22349606e-05 -1.71347141e+00] [ 2.58536540e-04 -2.73248871e-06 9.99999967e-01 -1.48301394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822414037 meters 0.07482669600664148 Centerline is valid? [True, True] Translation: X:32.37, Y:-1.72, Z:-0.15 [[ 9.99397547e-01 3.47061920e-02 -1.51210700e-04 3.23741720e+01] [-3.47061914e-02 9.99397559e-01 6.43544658e-06 -1.72343224e+00] [ 1.51342954e-04 -1.18362205e-06 9.99999989e-01 -1.49328873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882414037 meters 0.07544265846410673 Centerline is valid? [True, True] Translation: X:32.43, Y:-1.74, Z:-0.15 [[ 9.99635317e-01 2.69560756e-02 -1.61355741e-03 3.24330712e+01] [-2.69559713e-02 9.99636618e-01 8.63256453e-05 -1.73930388e+00] [ 1.61529808e-03 -4.27991564e-05 9.99998694e-01 -1.49974983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942414037 meters 0.0765411084969156 Centerline is valid? [True, True] Translation: X:32.49, Y:-1.75, Z:-0.15 [[ 9.99796699e-01 1.98775882e-02 -3.38251531e-03 3.24924664e+01] [-1.98770868e-02 9.99802415e-01 1.81794268e-04 -1.75418943e+00] [ 3.38546061e-03 -1.14522758e-04 9.99994263e-01 -1.53142851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002414037 meters 0.07829312943573703 Centerline is valid? [True, True] Translation: X:32.55, Y:-1.78, Z:-0.16 [[ 9.99942970e-01 9.29390689e-03 -5.26118184e-03 3.25510666e+01] [-9.29255006e-03 9.99956783e-01 2.82279868e-04 -1.77657506e+00] [ 5.26357795e-03 -2.33373974e-04 9.99986120e-01 -1.57477294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062414037 meters 0.07923056088799646 Centerline is valid? [True, True] Translation: X:32.61, Y:-1.79, Z:-0.16 [[ 9.99976288e-01 4.90169047e-03 -4.83705627e-03 3.26107037e+01] [-4.90049269e-03 9.99987959e-01 2.59447679e-04 -1.79087068e+00] [ 4.83826976e-03 -2.35737568e-04 9.99988268e-01 -1.58588891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122414037 meters 0.0787433684737642 Centerline is valid? [True, True] Translation: X:32.67, Y:-1.80, Z:-0.16 [[ 9.99985359e-01 3.98124748e-03 -3.66496118e-03 3.26692674e+01] [-3.98055975e-03 9.99992059e-01 1.94925028e-04 -1.79880559e+00] [ 3.66570812e-03 -1.80333577e-04 9.99993265e-01 -1.57433432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182414037 meters 0.0785974218624225 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.81, Z:-0.16 [[ 9.99981890e-01 5.23968574e-03 -2.96080198e-03 3.27278997e+01] [-5.23924253e-03 9.99986263e-01 1.57430094e-04 -1.81199845e+00] [ 2.96158619e-03 -1.41914883e-04 9.99995604e-01 -1.57960837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242414037 meters 0.07844268996159763 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.82, Z:-0.16 [[ 9.99955875e-01 8.25030853e-03 -4.49215971e-03 3.27867632e+01] [-8.24933904e-03 9.99965946e-01 2.34304191e-04 -1.81780278e+00] [ 4.49393981e-03 -1.97236504e-04 9.99989883e-01 -1.61144632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302414037 meters 0.07730541192315292 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.82, Z:-0.16 [[ 9.99869913e-01 1.46334205e-02 -6.78383637e-03 3.28463954e+01] [-1.46313033e-02 9.99892891e-01 3.61624221e-04 -1.82269398e+00] [ 6.78840156e-03 -2.62320811e-04 9.99976924e-01 -1.63642324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362414037 meters 0.07664788672868099 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.83, Z:-0.17 [[ 9.99789701e-01 1.91167210e-02 -7.42323112e-03 3.29058706e+01] [-1.91143140e-02 9.99817227e-01 3.95065352e-04 -1.82928164e+00] [ 7.42942671e-03 -2.53092300e-04 9.99972369e-01 -1.65706469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422414037 meters 0.07542618739029096 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.84, Z:-0.16 [[ 9.99714132e-01 2.33806693e-02 -4.99977975e-03 3.29659706e+01] [-2.33796330e-02 9.99726624e-01 2.65620997e-04 -1.83565828e+00] [ 5.00462333e-03 -1.48652049e-04 9.99987466e-01 -1.61429597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482414037 meters 0.0756425542738877 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.85, Z:-0.16 [[ 9.99681631e-01 2.47062499e-02 -5.12220911e-03 3.30230610e+01] [-2.47051885e-02 9.99694744e-01 2.70402148e-04 -1.84573109e+00] [ 5.12732614e-03 -1.43770919e-04 9.99986845e-01 -1.64296680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542414037 meters 0.07586682988914395 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.85, Z:-0.17 [[ 9.99691813e-01 2.36895312e-02 -7.42192172e-03 3.30820975e+01] [-2.36872596e-02 9.99719340e-01 3.93838162e-04 -1.85454983e+00] [ 7.42916853e-03 -2.17911799e-04 9.99972380e-01 -1.65381964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602414037 meters 0.07608179092828181 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.86, Z:-0.17 [[ 9.99724354e-01 2.18907826e-02 -8.48588989e-03 3.31409353e+01] [-2.18877548e-02 9.99760333e-01 4.49520503e-04 -1.86495149e+00] [ 8.49369646e-03 -2.63659517e-04 9.99963893e-01 -1.66225158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662414037 meters 0.07674946140906075 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.88, Z:-0.17 [[ 9.99777580e-01 1.94561279e-02 -8.13942945e-03 3.31976609e+01] [-1.94532855e-02 9.99810675e-01 4.28235674e-04 -1.88357769e+00] [ 8.14622026e-03 -2.69801781e-04 9.99966783e-01 -1.70872331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722414037 meters 0.07666634378010387 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.90, Z:-0.17 [[ 9.99820921e-01 1.71342881e-02 -8.03386857e-03 3.32554938e+01] [-1.71314422e-02 9.99853157e-01 4.22933260e-04 -1.89782825e+00] [ 8.03993551e-03 -2.85225766e-04 9.99967639e-01 -1.69145324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782414037 meters 0.07682227516750562 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.91, Z:-0.17 [[ 9.99859524e-01 1.54987162e-02 -6.38135164e-03 3.33129485e+01] [-1.54968972e-02 9.99879860e-01 3.34406795e-04 -1.90756309e+00] [ 6.38576786e-03 -2.35468669e-04 9.99979583e-01 -1.69698759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842414037 meters 0.07773301266158007 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.92, Z:-0.17 [[ 9.99868460e-01 1.48073515e-02 -6.61855061e-03 3.33703792e+01] [-1.48053796e-02 9.99890334e-01 3.46838362e-04 -1.91873537e+00] [ 6.62296054e-03 -2.48802585e-04 9.99978037e-01 -1.73988112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902414037 meters 0.07697143995697488 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.93, Z:-0.17 [[ 9.99929296e-01 1.04911694e-02 -5.59811235e-03 3.34294916e+01] [-1.04896870e-02 9.99944938e-01 2.94090120e-04 -1.93095549e+00] [ 5.60088946e-03 -2.35346880e-04 9.99984287e-01 -1.72209805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962414037 meters 0.07776571442484402 Centerline is valid? [True, True] Translation: X:33.49, Y:-1.94, Z:-0.17 [[ 9.99961994e-01 7.83658276e-03 -3.82072310e-03 3.34862296e+01] [-7.83588214e-03 9.99969279e-01 1.98308116e-04 -1.94351169e+00] [ 3.82215979e-03 -1.68361843e-04 9.99992681e-01 -1.73374082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022414037 meters 0.07734729280125754 Centerline is valid? [True, True] Translation: X:33.54, Y:-1.95, Z:-0.17 [[ 9.99961478e-01 7.01998734e-03 -5.26908142e-03 3.35440543e+01] [-7.01864159e-03 9.99975332e-01 2.73852753e-04 -1.95258485e+00] [ 5.27087389e-03 -2.36860410e-04 9.99986081e-01 -1.74608606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082414037 meters 0.0776060269695192 Centerline is valid? [True, True] Translation: X:33.60, Y:-1.96, Z:-0.18 [[ 9.99950639e-01 6.86601628e-03 -7.18169662e-03 3.36019714e+01] [-6.86350227e-03 9.99976376e-01 3.74646294e-04 -1.96325642e+00] [ 7.18409928e-03 -3.25336210e-04 9.99974141e-01 -1.77882748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142414037 meters 0.07741877734909233 Centerline is valid? [True, True] Translation: X:33.66, Y:-1.97, Z:-0.18 [[ 9.99961243e-01 6.04412047e-03 -6.40160250e-03 3.36600208e+01] [-6.04211043e-03 9.99981691e-01 3.33283327e-04 -1.97052041e+00] [ 6.40349969e-03 -2.94591221e-04 9.99979454e-01 -1.79053886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202414037 meters 0.07764891242968694 Centerline is valid? [True, True] Translation: X:33.72, Y:-1.98, Z:-0.18 [[ 9.99982524e-01 3.17790272e-03 -4.98531744e-03 3.37191328e+01] [-3.17664659e-03 9.99994921e-01 2.59863872e-04 -1.98173128e+00] [ 4.98611795e-03 -2.44022739e-04 9.99987539e-01 -1.79893134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262414037 meters 0.07888175960139024 Centerline is valid? [True, True] Translation: X:33.78, Y:-1.99, Z:-0.18 [[ 9.99991964e-01 -9.11577355e-05 -4.00783275e-03 3.37765938e+01] [ 9.19904431e-05 9.99999974e-01 2.07586193e-04 -1.99455342e+00] [ 4.00781372e-03 -2.07953207e-04 9.99991947e-01 -1.83041903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322414037 meters 0.07923275723257399 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.00, Z:-0.18 [[ 9.99985814e-01 -1.94098709e-03 -4.96033592e-03 3.38353387e+01] [ 1.94228841e-03 9.99998081e-01 2.57540749e-04 -2.00089001e+00] [ 4.95982651e-03 -2.67171499e-04 9.99987664e-01 -1.84908567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382414037 meters 0.07961671216984556 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.01, Z:-0.19 [[ 9.99986162e-01 -2.26682045e-03 -4.74725096e-03 3.38933819e+01] [ 2.26798791e-03 9.99997399e-01 2.40554402e-04 -2.00682012e+00] [ 4.74669332e-03 -2.51317781e-04 9.99988703e-01 -1.87774533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442414037 meters 0.07904558846572121 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.01, Z:-0.19 [[ 9.99980483e-01 -1.72900506e-03 -6.00364692e-03 3.39516917e+01] [ 1.73086313e-03 9.99998456e-01 3.04307924e-04 -2.00834619e+00] [ 6.00311150e-03 -3.14693476e-04 9.99981932e-01 -1.87807153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502414037 meters 0.0788550995898722 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.01, Z:-0.19 [[ 9.99988649e-01 8.91618395e-04 -4.68042984e-03 3.40110736e+01] [-8.90500291e-04 9.99999574e-01 2.40967701e-04 -2.01084691e+00] [ 4.68064270e-03 -2.36797042e-04 9.99989018e-01 -1.89881345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562414037 meters 0.07802445374211846 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.01, Z:-0.19 [[ 9.99986484e-01 2.67349939e-03 -4.45917228e-03 3.40703263e+01] [-2.67251463e-03 9.99996403e-01 2.26781542e-04 -2.01317830e+00] [ 4.45976254e-03 -2.14861273e-04 9.99990032e-01 -1.92361398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622414037 meters 0.07921034888010516 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.02, Z:-0.20 [[ 9.99986575e-01 3.08464992e-03 -4.16354977e-03 3.41281903e+01] [-3.08379139e-03 9.99995223e-01 2.12607062e-04 -2.02148307e+00] [ 4.16418569e-03 -1.99764689e-04 9.99991310e-01 -1.95770408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682414037 meters 0.07793199691234146 Centerline is valid? [True, True] Translation: X:34.19, Y:-2.02, Z:-0.19 [[ 9.99991901e-01 3.56269326e-03 -1.87238495e-03 3.41868705e+01] [-3.56252250e-03 9.99993650e-01 9.45266738e-05 -2.02216935e+00] [ 1.87270983e-03 -8.78554947e-05 9.99998243e-01 -1.94183873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742414037 meters 0.07846378722274586 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.03, Z:-0.20 [[ 9.99984782e-01 3.37585948e-03 -4.36342641e-03 3.42454104e+01] [-3.37491887e-03 9.99994280e-01 2.22911902e-04 -2.02936957e+00] [ 4.36415397e-03 -2.08182299e-04 9.99990455e-01 -1.98354943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802414037 meters 0.07834171592148002 Centerline is valid? [True, True] Translation: X:34.30, Y:-2.03, Z:-0.20 [[ 9.99992992e-01 1.38962421e-03 -3.47643137e-03 3.43038834e+01] [-1.38901867e-03 9.99999020e-01 1.76594020e-04 -2.03417276e+00] [ 3.47667336e-03 -1.71763954e-04 9.99993942e-01 -2.00351763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862414037 meters 0.07888603541312468 Centerline is valid? [True, True] Translation: X:34.36, Y:-2.04, Z:-0.20 [[ 9.99996526e-01 -2.56564711e-03 -6.04974195e-04 3.43627996e+01] [ 2.56566555e-03 9.99996708e-01 2.97066367e-05 -2.04015366e+00] [ 6.04895986e-04 -3.12586950e-05 9.99999817e-01 -1.98816460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922414037 meters 0.08126006209635411 Centerline is valid? [True, True] Translation: X:34.42, Y:-2.05, Z:-0.20 [[ 9.99947855e-01 -1.01970782e-02 5.54323304e-04 3.44212622e+01] [ 1.01970959e-02 9.99948008e-01 -2.91716937e-05 -2.05354885e+00] [-5.53997018e-04 3.48226605e-05 9.99999846e-01 -2.00441062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982414037 meters 0.0830576685552964 Centerline is valid? [True, True] Translation: X:34.48, Y:-2.07, Z:-0.20 [[ 9.99866465e-01 -1.62925073e-02 -1.26736871e-03 3.44815109e+01] [ 1.62926030e-02 9.99867265e-01 6.51850056e-05 -2.06653399e+00] [ 1.26613846e-03 -8.58250363e-05 9.99999195e-01 -2.02898590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042414037 meters 0.0821650661563099 Centerline is valid? [True, True] Translation: X:34.54, Y:-2.07, Z:-0.20 [[ 9.99842814e-01 -1.76722563e-02 -1.42756171e-03 3.45439751e+01] [ 1.76723812e-02 9.99843828e-01 7.49502207e-05 -2.06732541e+00] [ 1.42601423e-03 -1.00166854e-04 9.99998978e-01 -2.03967696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102414037 meters 0.08026530923576149 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.06, Z:-0.20 [[ 9.99860604e-01 -1.64642987e-02 -2.77483532e-03 3.46068557e+01] [ 1.64647624e-02 9.99864436e-01 1.44318927e-04 -2.06383093e+00] [ 2.77208305e-03 -1.89985814e-04 9.99996140e-01 -2.03672366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162414037 meters 0.08067236155323837 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.07, Z:-0.21 [[ 9.99902059e-01 -1.37219536e-02 -2.75336490e-03 3.46668661e+01] [ 1.37223949e-02 9.99905834e-01 1.41415488e-04 -2.06833196e+00] [ 2.75116513e-03 -1.79184398e-04 9.99996199e-01 -2.06662188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222414037 meters 0.07880698357526443 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.07, Z:-0.21 [[ 9.99967128e-01 -7.64988772e-03 -2.68731841e-03 3.47278371e+01] [ 7.65028741e-03 9.99970727e-01 1.38481027e-04 -2.06677253e+00] [ 2.68618037e-03 -1.59035233e-04 9.99996380e-01 -2.08588456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282414037 meters 0.07784325426049704 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.07, Z:-0.21 [[ 9.99993655e-01 -2.00184957e-03 -2.94659446e-03 3.47886906e+01] [ 2.00230388e-03 9.99997984e-01 1.51239636e-04 -2.06575308e+00] [ 2.94628576e-03 -1.57138654e-04 9.99995647e-01 -2.08884673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342414037 meters 0.07793323225839603 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.07, Z:-0.21 [[ 9.99993196e-01 1.23943240e-03 -3.47449781e-03 3.48475437e+01] [-1.23882312e-03 9.99999217e-01 1.77504577e-04 -2.06726688e+00] [ 3.47471509e-03 -1.73199081e-04 9.99993948e-01 -2.11393158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402414037 meters 0.07681474332497852 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.07, Z:-0.21 [[ 9.99986981e-01 4.01747356e-03 -3.14617905e-03 3.49074432e+01] [-4.01698834e-03 9.99991919e-01 1.60527572e-04 -2.06712298e+00] [ 3.14679854e-03 -1.47887317e-04 9.99995038e-01 -2.11657167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462414037 meters 0.07705040379387558 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.07, Z:-0.22 [[ 9.99970567e-01 6.86196896e-03 -3.43199364e-03 3.49656072e+01] [-6.86140915e-03 9.99976445e-01 1.74863224e-04 -2.07292056e+00] [ 3.43311271e-03 -1.51309764e-04 9.99994095e-01 -2.15848946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522414037 meters 0.0758809662337987 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.07, Z:-0.22 [[ 9.99966572e-01 7.66795894e-03 -2.83867835e-03 3.50243737e+01] [-7.66758235e-03 9.99970593e-01 1.43523848e-04 -2.07215691e+00] [ 2.83969541e-03 -1.21753250e-04 9.99995961e-01 -2.15689946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582414037 meters 0.07672228498714909 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.08, Z:-0.22 [[ 9.99968224e-01 6.67740823e-03 -4.35473723e-03 3.50827516e+01] [-6.67650739e-03 9.99977687e-01 2.21369378e-04 -2.07582663e+00] [ 4.35611823e-03 -1.92287909e-04 9.99990494e-01 -2.18605367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642414037 meters 0.07729163309972653 Centerline is valid? [True, True] Translation: X:35.14, Y:-2.08, Z:-0.22 [[ 9.99964450e-01 2.73114361e-03 -7.97739842e-03 3.51423603e+01] [-2.72797566e-03 9.99996196e-01 4.07969832e-04 -2.08305028e+00] [ 7.97848229e-03 -3.86193180e-04 9.99968097e-01 -2.22254256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702414037 meters 0.07792706889063312 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.09, Z:-0.22 [[ 9.99984832e-01 -2.10659130e-03 -5.08895252e-03 3.52013160e+01] [ 2.10793473e-03 9.99997745e-01 2.58640670e-04 -2.09071078e+00] [ 5.08839619e-03 -2.69363927e-04 9.99987018e-01 -2.22501680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762414037 meters 0.08057403326917383 Centerline is valid? [True, True] Translation: X:35.26, Y:-2.10, Z:-0.22 [[ 9.99970332e-01 -7.06482944e-03 -3.06959736e-03 3.52604138e+01] [ 7.06534247e-03 9.99975028e-01 1.56321349e-04 -2.10056714e+00] [ 3.06841632e-03 -1.78004468e-04 9.99995277e-01 -2.23547197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822414037 meters 0.08276199646370007 Centerline is valid? [True, True] Translation: X:35.32, Y:-2.11, Z:-0.23 [[ 9.99865841e-01 -1.55762921e-02 -5.06751694e-03 3.53204182e+01] [ 1.55778035e-02 9.99878625e-01 2.58912813e-04 -2.10777295e+00] [ 5.06286897e-03 -3.37818861e-04 9.99987127e-01 -2.26364849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882414037 meters 0.08481242451067843 Centerline is valid? [True, True] Translation: X:35.38, Y:-2.12, Z:-0.23 [[ 9.99673104e-01 -2.44538774e-02 -7.46274097e-03 3.53803778e+01] [ 2.44574011e-02 9.99700800e-01 3.81259666e-04 -2.11951742e+00] [ 7.45118485e-03 -5.63654284e-04 9.99972081e-01 -2.29399647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942414037 meters 0.08694608305053028 Centerline is valid? [True, True] Translation: X:35.44, Y:-2.12, Z:-0.23 [[ 9.99577723e-01 -2.78902742e-02 -8.15532087e-03 3.54393280e+01] [ 2.78945912e-02 9.99610784e-01 4.16061223e-04 -2.12409000e+00] [ 8.14054263e-03 -6.43374872e-04 9.99966658e-01 -2.31056165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002414037 meters 0.08487597170801926 Centerline is valid? [True, True] Translation: X:35.50, Y:-2.12, Z:-0.23 [[ 9.99492243e-01 -3.08495893e-02 -7.97236261e-03 3.55001915e+01] [ 3.08538129e-02 9.99523825e-01 4.07311952e-04 -2.11801338e+00] [ 7.95600096e-03 -6.53082921e-04 9.99968137e-01 -2.30535963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062414036999996 meters 0.0859826826095411 Centerline is valid? [True, True] Translation: X:35.56, Y:-2.12, Z:-0.23 [[ 9.99403473e-01 -3.38090340e-02 -7.04613426e-03 3.55606496e+01] [ 3.38124091e-02 9.99428132e-01 3.60397355e-04 -2.12256813e+00] [ 7.02992011e-03 -5.98429143e-04 9.99975111e-01 -2.32171225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122414037 meters 0.09054020764119436 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.13, Z:-0.23 [[ 9.99335006e-01 -3.62828825e-02 -3.61915819e-03 3.56204469e+01] [ 3.62837900e-02 9.99341509e-01 1.85388451e-04 -2.13428515e+00] [ 3.61004858e-03 -3.16581944e-04 9.99993434e-01 -2.34733887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182414037 meters 0.08945017550166812 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.13, Z:-0.23 [[ 9.99140236e-01 -4.13356261e-02 -3.18678893e-03 3.56810414e+01] [ 4.13363536e-02 9.99145274e-01 1.62744175e-04 -2.12787498e+00] [ 3.17733797e-03 -2.94334487e-04 9.99994909e-01 -2.32968528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242414037 meters 0.08947790506345832 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.12, Z:-0.23 [[ 9.98877784e-01 -4.68193948e-02 -7.14965086e-03 3.57420439e+01] [ 4.68231987e-02 9.98903126e-01 3.65487926e-04 -2.12255340e+00] [ 7.12469667e-03 -6.99847292e-04 9.99974374e-01 -2.34274395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302414037 meters 0.0905342611053355 Centerline is valid? [True, True] Translation: X:35.80, Y:-2.12, Z:-0.24 [[ 9.98781589e-01 -4.86236077e-02 -8.43098143e-03 3.58029889e+01] [ 4.86289647e-02 9.98816819e-01 4.31442165e-04 -2.12458455e+00] [ 8.40002778e-03 -8.40906390e-04 9.99964366e-01 -2.37927736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362414037 meters 0.09092775915402421 Centerline is valid? [True, True] Translation: X:35.86, Y:-2.12, Z:-0.24 [[ 9.98648953e-01 -5.09290161e-02 -1.03201205e-02 3.58642482e+01] [ 5.09371603e-02 9.98701721e-01 5.27691719e-04 -2.11836146e+00] [ 1.02798473e-02 -1.05265641e-03 9.99946607e-01 -2.40114096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422414037 meters 0.09237333339580107 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.12, Z:-0.24 [[ 9.98652905e-01 -5.07994311e-02 -1.05732095e-02 3.59267434e+01] [ 5.08079984e-02 9.98708292e-01 5.43086300e-04 -2.11585276e+00] [ 1.05319635e-02 -1.07955832e-03 9.99943955e-01 -2.42914954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482414037 meters 0.09187797947081894 Centerline is valid? [True, True] Translation: X:35.99, Y:-2.11, Z:-0.25 [[ 9.98703532e-01 -4.95968269e-02 -1.14634488e-02 3.59887872e+01] [ 4.96068122e-02 9.98768651e-01 5.88187002e-04 -2.10855936e+00] [ 1.14201611e-02 -1.15608959e-03 9.99934120e-01 -2.45824066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542414037 meters 0.09515894110014779 Centerline is valid? [True, True] Translation: X:36.05, Y:-2.11, Z:-0.25 [[ 9.98751168e-01 -4.94123139e-02 -7.38424043e-03 3.60487581e+01] [ 4.94164477e-02 9.98778189e-01 3.78303864e-04 -2.10872009e+00] [ 7.35652542e-03 -7.42734358e-04 9.99972665e-01 -2.46738719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602414037 meters 0.09491598012707035 Centerline is valid? [True, True] Translation: X:36.11, Y:-2.10, Z:-0.25 [[ 9.98733125e-01 -4.96858340e-02 -7.96632688e-03 3.61112348e+01] [ 4.96906720e-02 9.98764571e-01 4.10408358e-04 -2.10301888e+00] [ 7.93609357e-03 -8.05740557e-04 9.99968184e-01 -2.46498813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662414037 meters 0.09689063163006033 Centerline is valid? [True, True] Translation: X:36.17, Y:-2.10, Z:-0.25 [[ 9.98683494e-01 -5.07246529e-02 -7.63473080e-03 3.61728993e+01] [ 5.07291401e-02 9.98712370e-01 3.95098657e-04 -2.10203919e+00] [ 7.60485885e-03 -7.81881836e-04 9.99970777e-01 -2.49366203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722414037 meters 0.09205433900593764 Centerline is valid? [True, True] Translation: X:36.23, Y:-2.09, Z:-0.25 [[ 9.98636133e-01 -5.12216378e-02 -1.01102663e-02 3.62348537e+01] [ 5.12295095e-02 9.98686771e-01 5.20978018e-04 -2.09119750e+00] [ 1.00703038e-02 -1.03821146e-03 9.99948754e-01 -2.50883034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782414037 meters 0.096350148306631 Centerline is valid? [True, True] Translation: X:36.30, Y:-2.10, Z:-0.26 [[ 9.98655647e-01 -5.05124075e-02 -1.16359315e-02 3.62956483e+01] [ 5.05228306e-02 9.98722724e-01 6.03380824e-04 -2.09518967e+00] [ 1.15905910e-02 -1.19044986e-03 9.99932118e-01 -2.57051232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842414037 meters 0.09526057718564969 Centerline is valid? [True, True] Translation: X:36.36, Y:-2.09, Z:-0.26 [[ 9.98735820e-01 -4.90072551e-02 -1.11825825e-02 3.63569246e+01] [ 4.90167600e-02 9.98797789e-01 5.77328272e-04 -2.08935084e+00] [ 1.11408454e-02 -1.12473239e-03 9.99937306e-01 -2.57535915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902414037 meters 0.09333118732315338 Centerline is valid? [True, True] Translation: X:36.42, Y:-2.08, Z:-0.26 [[ 9.98883762e-01 -4.57472067e-02 -1.17652975e-02 3.64178640e+01] [ 4.57575012e-02 9.98952392e-01 6.07148329e-04 -2.08026969e+00] [ 1.17251967e-02 -1.14482122e-03 9.99930602e-01 -2.59231255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962414037 meters 0.09309709164894256 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.08, Z:-0.26 [[ 9.98996178e-01 -4.35352336e-02 -1.05508145e-02 3.64786774e+01] [ 4.35433913e-02 9.99051388e-01 5.44588089e-04 -2.07666243e+00] [ 1.05170971e-02 -1.00345967e-03 9.99944190e-01 -2.60803440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022414037 meters 0.09297944976054315 Centerline is valid? [True, True] Translation: X:36.54, Y:-2.07, Z:-0.26 [[ 9.99123349e-01 -4.07677757e-02 -9.51426848e-03 3.65397809e+01] [ 4.07742834e-02 9.99168262e-01 4.90946748e-04 -2.06736499e+00] [ 9.48634030e-03 -8.78453838e-04 9.99954618e-01 -2.61177553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082414037 meters 0.09112952537289205 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.06, Z:-0.26 [[ 9.99156936e-01 -3.97182826e-02 -1.03863339e-02 3.66023351e+01] [ 3.97260074e-02 9.99210466e-01 5.38416000e-04 -2.05850682e+00] [ 1.03567486e-02 -9.50569658e-04 9.99945916e-01 -2.61512297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142414037 meters 0.09067802485643263 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.06, Z:-0.26 [[ 9.99089052e-01 -4.12908130e-02 -1.07765861e-02 3.66631409e+01] [ 4.12992174e-02 9.99146667e-01 5.58413147e-04 -2.05799564e+00] [ 1.07443327e-02 -1.00296903e-03 9.99941775e-01 -2.64002783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202414037 meters 0.09423099730161202 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.06, Z:-0.27 [[ 9.99069422e-01 -4.21208963e-02 -9.28008985e-03 3.67244467e+01] [ 4.21271717e-02 9.99112141e-01 4.81709695e-04 -2.06430883e+00] [ 9.25156039e-03 -8.72205365e-04 9.99956823e-01 -2.66633719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262414037 meters 0.09213795682061257 Centerline is valid? [True, True] Translation: X:36.79, Y:-2.05, Z:-0.27 [[ 9.99264754e-01 -3.76335140e-02 -7.32599476e-03 3.67855265e+01] [ 3.76373002e-02 9.99291394e-01 3.79586381e-04 -2.05473440e+00] [ 7.30651834e-03 -6.55037956e-04 9.99973092e-01 -2.66361253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322414037 meters 0.08873312694509033 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.05, Z:-0.27 [[ 9.99383126e-01 -3.41757298e-02 -8.08616567e-03 3.68464756e+01] [ 3.41802282e-02 9.99415598e-01 4.18730000e-04 -2.04669997e+00] [ 8.06712969e-03 -6.94858684e-04 9.99967219e-01 -2.65873829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382414037 meters 0.0888453199313928 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.05, Z:-0.27 [[ 9.99441788e-01 -3.24584783e-02 -7.90949362e-03 3.69082760e+01] [ 3.24627422e-02 9.99472862e-01 4.11263506e-04 -2.04684122e+00] [ 7.89197524e-03 -6.67797786e-04 9.99968635e-01 -2.68663216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442414037 meters 0.09030950534053024 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.05, Z:-0.27 [[ 9.99488881e-01 -3.09112486e-02 -8.15296511e-03 3.69689076e+01] [ 3.09157262e-02 9.99521905e-01 4.23716836e-04 -2.04956484e+00] [ 8.13596961e-03 -6.75555103e-04 9.99966674e-01 -2.72102641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502414037 meters 0.08881349798351407 Centerline is valid? [True, True] Translation: X:37.03, Y:-2.04, Z:-0.27 [[ 9.99597048e-01 -2.71821238e-02 -8.17762306e-03 3.70296758e+01] [ 2.71864989e-02 9.99630289e-01 4.24297547e-04 -2.04222399e+00] [ 8.16306639e-03 -6.46447515e-04 9.99966473e-01 -2.72221887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562414036999996 meters 0.08723250887139443 Centerline is valid? [True, True] Translation: X:37.09, Y:-2.04, Z:-0.27 [[ 9.99646394e-01 -2.54311177e-02 -7.76821703e-03 3.70910620e+01] [ 2.54350209e-02 9.99676396e-01 4.04066596e-04 -2.03871132e+00] [ 7.75542734e-03 -6.01508478e-04 9.99969745e-01 -2.72570375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622414037 meters 0.08903852492619986 Centerline is valid? [True, True] Translation: X:37.15, Y:-2.04, Z:-0.27 [[ 9.99674569e-01 -2.49862462e-02 -5.14237641e-03 3.71514242e+01] [ 2.49879635e-02 9.99687716e-01 2.69968582e-04 -2.04343455e+00] [ 5.13402502e-03 -3.98378240e-04 9.99986741e-01 -2.74206271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682414037 meters 0.08662200836358548 Centerline is valid? [True, True] Translation: X:37.21, Y:-2.04, Z:-0.28 [[ 9.99702151e-01 -2.37353775e-02 -5.67813495e-03 3.72142338e+01] [ 2.37374504e-02 9.99718183e-01 2.97929810e-04 -2.04079446e+00] [ 5.66946327e-03 -4.32625518e-04 9.99983835e-01 -2.75099230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742414037 meters 0.08688287089735919 Centerline is valid? [True, True] Translation: X:37.27, Y:-2.04, Z:-0.28 [[ 9.99779328e-01 -2.02911496e-02 -5.43739399e-03 3.72740349e+01] [ 2.02929861e-02 9.99794036e-01 2.82783184e-04 -2.04153737e+00] [ 5.43053609e-03 -3.93061742e-04 9.99985177e-01 -2.77769016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802414037 meters 0.0860867238738737 Centerline is valid? [True, True] Translation: X:37.34, Y:-2.04, Z:-0.28 [[ 9.99813066e-01 -1.86989539e-02 -4.91750001e-03 3.73355996e+01] [ 1.87004434e-02 9.99825098e-01 2.57091743e-04 -2.04032257e+00] [ 4.91183258e-03 -3.49003114e-04 9.99987876e-01 -2.77680116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862414037 meters 0.08532888804501831 Centerline is valid? [True, True] Translation: X:37.40, Y:-2.04, Z:-0.28 [[ 9.99845693e-01 -1.74748153e-02 -1.79475862e-03 3.73961984e+01] [ 1.74750112e-02 9.99847296e-01 9.35236817e-05 -2.04278987e+00] [ 1.79285025e-03 -1.24872677e-04 9.99998385e-01 -2.76320070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922414037 meters 0.08780061875034051 Centerline is valid? [True, True] Translation: X:37.46, Y:-2.05, Z:-0.28 [[ 9.99837907e-01 -1.76043397e-02 -3.77444029e-03 3.74566173e+01] [ 1.76052124e-02 9.99844997e-01 1.98123168e-04 -2.05090741e+00] [ 3.77036741e-03 -2.64540877e-04 9.99992857e-01 -2.81332418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982414037 meters 0.08934301529652974 Centerline is valid? [True, True] Translation: X:37.52, Y:-2.06, Z:-0.29 [[ 9.99822569e-01 -1.76255911e-02 -6.64595415e-03 3.75178294e+01] [ 1.76283007e-02 9.99844548e-01 3.49355862e-04 -2.05520294e+00] [ 6.63876342e-03 -4.66450754e-04 9.99977854e-01 -2.86793094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042414037 meters 0.08570984562949742 Centerline is valid? [True, True] Translation: X:37.58, Y:-2.05, Z:-0.28 [[ 9.99848642e-01 -1.68481348e-02 -4.33969448e-03 3.75793857e+01] [ 1.68492811e-02 9.99858015e-01 2.27716218e-04 -2.04958308e+00] [ 4.33524172e-03 -3.00802483e-04 9.99990558e-01 -2.83624116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102414037 meters 0.08465378964980376 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.05, Z:-0.28 [[ 9.99837761e-01 -1.76950337e-02 -3.36716864e-03 3.76420889e+01] [ 1.76957329e-02 9.99843402e-01 1.77983203e-04 -2.04974698e+00] [ 3.36349193e-03 -2.37538844e-04 9.99994315e-01 -2.83091298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162414037 meters 0.08524922868755519 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.05, Z:-0.28 [[ 9.99812069e-01 -1.91078243e-02 -3.27392945e-03 3.77043005e+01] [ 1.91084938e-02 9.99817401e-01 1.73316655e-04 -2.05431945e+00] [ 3.27001993e-03 -2.35843944e-04 9.99994626e-01 -2.84703755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222414037 meters 0.08710523638571668 Centerline is valid? [True, True] Translation: X:37.77, Y:-2.06, Z:-0.28 [[ 9.99743769e-01 -2.26340652e-02 -3.07334162e-04 3.77652053e+01] [ 2.26340715e-02 9.99743816e-01 1.69624364e-05 -2.06424251e+00] [ 3.06871499e-04 -2.39143135e-05 9.99999953e-01 -2.84547493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282414037 meters 0.08908060034484011 Centerline is valid? [True, True] Translation: X:37.83, Y:-2.07, Z:-0.29 [[ 9.99598776e-01 -2.82700393e-02 -1.75818422e-03 3.78257076e+01] [ 2.82702450e-02 9.99600312e-01 9.22546617e-05 -2.07258012e+00] [ 1.75487345e-03 -1.41921946e-04 9.99998450e-01 -2.85929163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342414037 meters 0.09006638015412054 Centerline is valid? [True, True] Translation: X:37.89, Y:-2.08, Z:-0.29 [[ 9.99469749e-01 -3.21522691e-02 -5.14321760e-03 3.78865155e+01] [ 3.21540816e-02 9.99482887e-01 2.70101130e-04 -2.07868090e+00] [ 5.13187361e-03 -4.35333347e-04 9.99986737e-01 -2.90518624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402414037 meters 0.09289995663083553 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.09, Z:-0.30 [[ 9.99262839e-01 -3.79861497e-02 -5.55256259e-03 3.79461096e+01] [ 3.79883508e-02 9.99278140e-01 2.91440202e-04 -2.09131759e+00] [ 5.53748372e-03 -5.02158059e-04 9.99984542e-01 -2.95452082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462414037 meters 0.09624778104031814 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.10, Z:-0.30 [[ 9.99098018e-01 -4.22758016e-02 -3.98823833e-03 3.80051645e+01] [ 4.22769795e-02 9.99105906e-01 2.11471756e-04 -2.10289039e+00] [ 3.97573234e-03 -3.79891683e-04 9.99992025e-01 -2.95792330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522414037 meters 0.09572254099950589 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.10, Z:-0.29 [[ 9.98973639e-01 -4.51756273e-02 -3.29122757e-03 3.80660147e+01] [ 4.51764402e-02 9.98979008e-01 1.73016409e-04 -2.10458837e+00] [ 3.28005113e-03 -3.21524777e-04 9.99994569e-01 -2.93405098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582414037 meters 0.09678592760447917 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.11, Z:-0.30 [[ 9.98875980e-01 -4.73044017e-02 -3.01157460e-03 3.81268308e+01] [ 4.73050931e-02 9.98880475e-01 1.58719412e-04 -2.11332660e+00] [ 3.00069494e-03 -3.01003825e-04 9.99995453e-01 -2.96238173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642414037 meters 0.09754563488228556 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.12, Z:-0.30 [[ 9.98835329e-01 -4.80278721e-02 -4.61625404e-03 3.81876827e+01] [ 4.80295059e-02 9.98845888e-01 2.43642207e-04 -2.12028914e+00] [ 4.59922474e-03 -4.65074844e-04 9.99989315e-01 -2.99424193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702414037 meters 0.09857629993292778 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.12, Z:-0.30 [[ 9.98845904e-01 -4.77203286e-02 -5.44344349e-03 3.82509553e+01] [ 4.77226070e-02 9.98860585e-01 2.89370367e-04 -2.12449960e+00] [ 5.42343230e-03 -5.48811720e-04 9.99985142e-01 -3.01678806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762414037 meters 0.0958470351054932 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.12, Z:-0.30 [[ 9.98974422e-01 -4.49377995e-02 -5.54057151e-03 3.83119499e+01] [ 4.49401036e-02 9.98989640e-01 2.92003631e-04 -2.12428881e+00] [ 5.52185154e-03 -5.40698016e-04 9.99984608e-01 -3.01666579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822414037 meters 0.09506384462767661 Centerline is valid? [True, True] Translation: X:38.37, Y:-2.13, Z:-0.31 [[ 9.99098469e-01 -4.17701797e-02 -7.58299901e-03 3.83723645e+01] [ 4.17744075e-02 9.99126988e-01 3.99929978e-04 -2.12809336e+00] [ 7.55967381e-03 -7.16344719e-04 9.99971169e-01 -3.06376632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882414037 meters 0.09399197287195445 Centerline is valid? [True, True] Translation: X:38.43, Y:-2.13, Z:-0.31 [[ 9.99142223e-01 -4.05510241e-02 -8.39236353e-03 3.84343293e+01] [ 4.05561718e-02 9.99177161e-01 4.44042121e-04 -2.12815036e+00] [ 8.36745160e-03 -7.84023369e-04 9.99964685e-01 -3.07268156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942414037 meters 0.0925229769356134 Centerline is valid? [True, True] Translation: X:38.50, Y:-2.13, Z:-0.31 [[ 9.99178445e-01 -3.97175490e-02 -8.05923112e-03 3.84958761e+01] [ 3.97222686e-02 9.99210668e-01 4.26328293e-04 -2.12725037e+00] [ 8.03593700e-03 -7.46108984e-04 9.99967433e-01 -3.06520856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002414037 meters 0.09133265690650284 Centerline is valid? [True, True] Translation: X:38.56, Y:-2.13, Z:-0.31 [[ 9.99215542e-01 -3.91126322e-02 -6.20510087e-03 3.85576991e+01] [ 3.91154284e-02 9.99234644e-01 3.29860195e-04 -2.12991921e+00] [ 6.18745006e-03 -5.72316612e-04 9.99980694e-01 -3.06949580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062414036999996 meters 0.09363861203237976 Centerline is valid? [True, True] Translation: X:38.62, Y:-2.14, Z:-0.31 [[ 9.99172535e-01 -4.04419927e-02 -4.32336127e-03 3.86184014e+01] [ 4.04433634e-02 9.99181806e-01 2.30062219e-04 -2.13579955e+00] [ 4.31051975e-03 -4.04723122e-04 9.99990628e-01 -3.06897008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122414037 meters 0.09155366394670504 Centerline is valid? [True, True] Translation: X:38.68, Y:-2.13, Z:-0.31 [[ 9.99111712e-01 -4.17553765e-02 -5.68110431e-03 3.86794872e+01] [ 4.17577579e-02 9.99127719e-01 3.01158602e-04 -2.13191503e+00] [ 5.66357380e-03 -5.38121265e-04 9.99983817e-01 -3.07356639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182414037 meters 0.09697637992060935 Centerline is valid? [True, True] Translation: X:38.74, Y:-2.15, Z:-0.31 [[ 9.98955921e-01 -4.53524996e-02 -5.49712834e-03 3.87390775e+01] [ 4.53547874e-02 9.98970899e-01 2.92174684e-04 -2.14747679e+00] [ 5.47822038e-03 -5.41190718e-04 9.99984848e-01 -3.11807549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242414037 meters 0.09732879542703857 Centerline is valid? [True, True] Translation: X:38.80, Y:-2.15, Z:-0.31 [[ 9.98881524e-01 -4.69523343e-02 -5.58376164e-03 3.87995976e+01] [ 4.69547210e-02 9.98896975e-01 2.97052438e-04 -2.15209909e+00] [ 5.56365530e-03 -5.58904162e-04 9.99984367e-01 -3.13305962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302414037 meters 0.09980949424055963 Centerline is valid? [True, True] Translation: X:38.86, Y:-2.16, Z:-0.32 [[ 9.98569175e-01 -5.28983720e-02 -7.83360028e-03 3.88593789e+01] [ 5.29032412e-02 9.98599557e-01 4.15536297e-04 -2.16143050e+00] [ 7.80064857e-03 -8.29364583e-04 9.99969231e-01 -3.16954061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362414037 meters 0.10118566120367058 Centerline is valid? [True, False] Translation: X:38.86, Y:-2.16, Z:-0.32 [[ 9.98559815e-01 -5.31635065e-02 -7.20677456e-03 3.88582154e+01] [ 5.31699874e-02 9.98585223e-01 7.10555735e-04 -2.16282749e+00] [ 7.15880294e-03 -1.09271652e-03 9.99973778e-01 -3.17014376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422414037 meters 0.10228547013895638 Centerline is valid? [False, False] Translation: X:38.85, Y:-2.17, Z:-0.32 [[ 9.98788694e-01 -4.91992054e-02 7.63270967e-04 3.88477847e+01] [ 4.92002051e-02 9.98788022e-01 -1.35137854e-03 -2.16806040e+00] [-6.95859149e-04 1.38729469e-03 9.99998796e-01 -3.21327713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482414037 meters 0.10209308482315636 Centerline is valid? [False, False] Translation: X:38.84, Y:-2.17, Z:-0.33 [[ 9.99001673e-01 -4.39366140e-02 8.07654220e-03 3.88384993e+01] [ 4.39635356e-02 9.99028055e-01 -3.18645620e-03 -2.17025878e+00] [-7.92869014e-03 3.53834843e-03 9.99962307e-01 -3.25841785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542414037 meters 0.09811419053647377 Centerline is valid? [False, True] Translation: X:38.83, Y:-2.17, Z:-0.33 [[ 9.99266808e-01 -3.50005868e-02 1.55178896e-02 3.88285181e+01] [ 3.50482068e-02 9.99381680e-01 -2.80737902e-03 -2.17154233e+00] [-1.54100347e-02 3.34919488e-03 9.99875649e-01 -3.30469413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602414037 meters 0.1045155753166537 Centerline is valid? [True, False] Translation: X:38.82, Y:-2.17, Z:-0.33 [[ 9.99523426e-01 -2.57195719e-02 1.70711354e-02 3.88223645e+01] [ 2.58447841e-02 9.99640361e-01 -7.15505952e-03 -2.17383340e+00] [-1.68809709e-02 7.59284941e-03 9.99828676e-01 -3.33616423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662414037 meters 0.09824565312954188 Centerline is valid? [False, True] Translation: X:38.82, Y:-2.17, Z:-0.33 [[ 9.99736190e-01 -2.06844817e-02 9.98516795e-03 3.88156192e+01] [ 2.08250131e-02 9.99682553e-01 -1.41814132e-02 -2.17439060e+00] [-9.68866300e-03 1.43856132e-02 9.99849581e-01 -3.30773173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722414037 meters 0.09672748630426814 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.18, Z:-0.34 [[ 9.99761672e-01 -1.90267478e-02 1.07042735e-02 3.88754574e+01] [ 1.90373943e-02 9.99818373e-01 -8.93581110e-04 -2.18116359e+00] [-1.06853274e-02 1.09714962e-03 9.99942308e-01 -3.36506083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782414037 meters 0.09695657405823821 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.19, Z:-0.34 [[ 9.99762787e-01 -1.90052245e-02 1.06381481e-02 3.89375996e+01] [ 1.90157190e-02 9.99818792e-01 -8.86212672e-04 -2.18718171e+00] [-1.06193777e-02 1.08829449e-03 9.99943021e-01 -3.39433721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842414037 meters 0.09738783379951672 Centerline is valid? [True, True] Translation: X:39.00, Y:-2.20, Z:-0.34 [[ 9.99744995e-01 -2.01582701e-02 1.01778621e-02 3.89983679e+01] [ 2.01679507e-02 9.99796245e-01 -8.49390011e-04 -2.19519372e+00] [-1.01586660e-02 1.05444003e-03 9.99947843e-01 -3.43422716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902414037 meters 0.09790798569850402 Centerline is valid? [True, True] Translation: X:39.06, Y:-2.20, Z:-0.34 [[ 9.99675051e-01 -2.25709039e-02 1.18467936e-02 3.90586093e+01] [ 2.25841998e-02 9.99744455e-01 -9.89731059e-04 -2.20247861e+00] [-1.18214271e-02 1.25695980e-03 9.99929334e-01 -3.43987315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962414037 meters 0.09902129751488001 Centerline is valid? [True, True] Translation: X:39.12, Y:-2.21, Z:-0.35 [[ 9.99627831e-01 -2.43507826e-02 1.22979619e-02 3.91186785e+01] [ 2.43652466e-02 9.99702595e-01 -1.02765236e-03 -2.21207622e+00] [-1.22692803e-02 1.32691278e-03 9.99923849e-01 -3.46820630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022414037 meters 0.0987406759951914 Centerline is valid? [True, True] Translation: X:39.18, Y:-2.22, Z:-0.35 [[ 9.99610915e-01 -2.52193231e-02 1.19165663e-02 3.91807900e+01] [ 2.52329513e-02 9.99681104e-01 -9.94649717e-04 -2.21780563e+00] [-1.18876817e-02 1.29495285e-03 9.99928501e-01 -3.49238018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082414037 meters 0.10042788761325394 Centerline is valid? [True, False] Translation: X:39.17, Y:-2.22, Z:-0.35 [[ 9.99582035e-01 -2.13985134e-02 1.94386015e-02 3.91709967e+01] [ 2.14797043e-02 9.99761372e-01 -3.97761982e-03 -2.22307106e+00] [-1.93488478e-02 4.39349272e-03 9.99803140e-01 -3.53889544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142414037 meters 0.09796557585152195 Centerline is valid? [False, True] Translation: X:39.17, Y:-2.23, Z:-0.35 [[ 9.99754341e-01 -2.18807605e-02 3.53398533e-03 3.91749341e+01] [ 2.18955460e-02 9.99751438e-01 -4.20075561e-03 -2.22867876e+00] [-3.44119119e-03 4.27710220e-03 9.99984932e-01 -3.51390431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202414037 meters 0.10209400244386144 Centerline is valid? [True, False] Translation: X:39.18, Y:-2.23, Z:-0.35 [[ 9.99766232e-01 -2.13075968e-02 3.66979406e-03 3.91750481e+01] [ 2.13189584e-02 9.99767965e-01 -3.08520071e-03 -2.23144725e+00] [-3.60320433e-03 3.16271568e-03 9.99988507e-01 -3.51940592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262414037 meters 0.09945264786097573 Centerline is valid? [False, True] Translation: X:39.16, Y:-2.24, Z:-0.36 [[ 9.99857084e-01 -1.26795848e-02 1.11821284e-02 3.91642997e+01] [ 1.26978088e-02 9.99918162e-01 -1.56025372e-03 -2.23722846e+00] [-1.11614299e-02 1.70201926e-03 9.99936261e-01 -3.55809082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322414037 meters 0.09963668593700405 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.25, Z:-0.36 [[ 9.99884759e-01 -1.17663210e-02 9.59287708e-03 3.92261607e+01] [ 1.17760323e-02 9.99930203e-01 -9.56494695e-04 -2.24717144e+00] [-9.58095310e-03 1.06935050e-03 9.99953530e-01 -3.60100364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382414037 meters 0.10053311125327608 Centerline is valid? [True, False] Translation: X:39.23, Y:-2.25, Z:-0.36 [[ 9.99899254e-01 -1.06698827e-02 9.36137693e-03 3.92273038e+01] [ 1.06641435e-02 9.99942917e-01 6.62779305e-04 -2.25084309e+00] [-9.36791433e-03 -5.62881466e-04 9.99955962e-01 -3.61118095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442414037 meters 0.09855473309040465 Centerline is valid? [False, True] Translation: X:39.23, Y:-2.25, Z:-0.36 [[ 9.99933348e-01 -6.40325331e-03 9.60721655e-03 3.92265264e+01] [ 6.35276951e-03 9.99965902e-01 5.27612622e-03 -2.25244705e+00] [-9.64067333e-03 -5.21474212e-03 9.99939930e-01 -3.60705297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502414037 meters 0.0949948684225675 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.25, Z:-0.36 [[ 9.99952435e-01 -2.40545142e-03 9.45208112e-03 3.92880188e+01] [ 2.41463603e-03 9.99996624e-01 -9.60410574e-04 -2.25058034e+00] [-9.44973899e-03 9.83188227e-04 9.99954867e-01 -3.61283581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562414036999996 meters 0.09667983601355888 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.26, Z:-0.37 [[ 9.99948538e-01 4.07976215e-04 1.01367788e-02 3.93469912e+01] [-3.97545253e-04 9.99999389e-01 -1.03101499e-03 -2.26057647e+00] [-1.01371932e-02 1.02693211e-03 9.99948090e-01 -3.65186466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622414037 meters 0.09408633309731673 Centerline is valid? [True, True] Translation: X:39.41, Y:-2.26, Z:-0.37 [[ 9.99947978e-01 7.18680855e-04 1.01746785e-02 3.94095801e+01] [-7.08211651e-04 9.99999216e-01 -1.03251257e-03 -2.26172997e+00] [-1.01754125e-02 1.02525303e-03 9.99947704e-01 -3.65179042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682414037 meters 0.09544148348815536 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.27, Z:-0.37 [[ 9.99930024e-01 1.49733597e-05 1.18298776e-02 3.94706641e+01] [-8.04650558e-07 9.99999283e-01 -1.19770932e-03 -2.27277345e+00] [-1.18298870e-02 1.19761600e-03 9.99929307e-01 -3.67212095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742414037 meters 0.09520803333297462 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.28, Z:-0.37 [[ 9.99929250e-01 -1.09437402e-03 1.18447314e-02 3.95313714e+01] [ 1.10874638e-03 9.99998657e-01 -1.20689816e-03 -2.27993651e+00] [-1.18433947e-02 1.21994558e-03 9.99929120e-01 -3.68392005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802414037 meters 0.09693867578315365 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.29, Z:-0.37 [[ 9.99919714e-01 -4.17727011e-03 1.19630882e-02 3.95910785e+01] [ 4.19216337e-03 9.99990468e-01 -1.22012812e-03 -2.29162907e+00] [-1.19578773e-02 1.27018138e-03 9.99927695e-01 -3.70278527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862414037 meters 0.09770415039234014 Centerline is valid? [True, True] Translation: X:39.65, Y:-2.30, Z:-0.37 [[ 9.99920061e-01 -6.76122106e-03 1.06844217e-02 3.96509649e+01] [ 6.77324662e-03 9.99976468e-01 -1.08973796e-03 -2.30150600e+00] [-1.06768024e-02 1.16201908e-03 9.99942326e-01 -3.74423439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922414037 meters 0.10101315779289236 Centerline is valid? [True, False] Translation: X:39.65, Y:-2.31, Z:-0.38 [[ 9.99921421e-01 -6.12472927e-03 1.09379400e-02 3.96513653e+01] [ 6.11625523e-03 9.99980969e-01 8.08020790e-04 -2.30646378e+00] [-1.09426808e-02 -7.41058064e-04 9.99939852e-01 -3.76151310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982414037 meters 0.10087219072262706 Centerline is valid? [False, False] Translation: X:39.65, Y:-2.31, Z:-0.38 [[ 9.99921567e-01 -5.88277100e-03 1.10568456e-02 3.96514287e+01] [ 5.86824435e-03 9.99981876e-01 1.34580029e-03 -2.30777801e+00] [-1.10645623e-02 -1.28081046e-03 9.99937966e-01 -3.76597341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042414037 meters 0.09923874422031519 Centerline is valid? [False, True] Translation: X:39.65, Y:-2.31, Z:-0.38 [[ 9.99922057e-01 -5.50225652e-03 1.12073375e-02 3.96515630e+01] [ 5.47872104e-03 9.99982724e-01 2.12962647e-03 -2.30947118e+00] [-1.12188616e-02 -2.06805860e-03 9.99934928e-01 -3.77233313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102414037 meters 0.09832054323233945 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.31, Z:-0.38 [[ 9.99907145e-01 -6.05035896e-03 1.22104666e-02 3.97138555e+01] [ 6.06725729e-03 9.99980686e-01 -1.34735256e-03 -2.31388583e+00] [-1.22020788e-02 1.42131149e-03 9.99924542e-01 -3.76277528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162414037 meters 0.09898333897936827 Centerline is valid? [True, True] Translation: X:39.78, Y:-2.32, Z:-0.38 [[ 9.99882163e-01 -6.14637821e-03 1.40670884e-02 3.97761188e+01] [ 6.16881855e-03 9.99979768e-01 -1.55240221e-03 -2.32184287e+00] [-1.40572621e-02 1.63899660e-03 9.99899849e-01 -3.77182711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222414037 meters 0.10287617751884998 Centerline is valid? [True, False] Translation: X:39.78, Y:-2.32, Z:-0.38 [[ 9.99887239e-01 -5.73626796e-03 1.38781689e-02 3.97771503e+01] [ 5.75165712e-03 9.99982887e-01 -1.06921608e-03 -2.32224073e+00] [-1.38717981e-02 1.14891799e-03 9.99903122e-01 -3.78186859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282414037 meters 0.09995135073561925 Centerline is valid? [False, True] Translation: X:39.78, Y:-2.32, Z:-0.38 [[ 9.99892983e-01 -5.13482038e-03 1.36987550e-02 3.97783431e+01] [ 5.13971404e-03 9.99986740e-01 -3.22052192e-04 -2.32329340e+00] [-1.36969197e-02 3.92425410e-04 9.99906116e-01 -3.79465943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342414037 meters 0.10145673598901797 Centerline is valid? [True, False] Translation: X:39.78, Y:-2.32, Z:-0.38 [[ 9.99898788e-01 -4.75108606e-03 1.34104647e-02 3.97792102e+01] [ 4.75054866e-03 9.99988713e-01 7.19282664e-05 -2.32358133e+00] [-1.34106551e-02 -8.21392123e-06 9.99910073e-01 -3.79932467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402414037 meters 0.09561760069796323 Centerline is valid? [False, True] Translation: X:39.78, Y:-2.32, Z:-0.38 [[ 9.99913341e-01 -3.89470579e-03 1.25754799e-02 3.97815647e+01] [ 3.88981564e-03 9.99992349e-01 4.13299097e-04 -2.32153895e+00] [-1.25769934e-02 -3.64346982e-04 9.99920840e-01 -3.81148355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462414037 meters 0.09561502146967768 Centerline is valid? [True, True] Translation: X:39.84, Y:-2.33, Z:-0.38 [[ 9.99919717e-01 -1.69184536e-03 1.25577476e-02 3.98417650e+01] [ 1.70874354e-03 9.99997649e-01 -1.33503020e-03 -2.32817350e+00] [-1.25554594e-02 1.35638099e-03 9.99920257e-01 -3.83570216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522414037 meters 0.0978334035779603 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.34, Z:-0.39 [[ 9.99910695e-01 -3.15570504e-03 1.29862515e-02 3.99015329e+01] [ 3.17390131e-03 9.99994010e-01 -1.38082392e-03 -2.34115020e+00] [-1.29818162e-02 1.42191769e-03 9.99914722e-01 -3.85269914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582414037 meters 0.10086174860242111 Centerline is valid? [True, False] Translation: X:39.90, Y:-2.35, Z:-0.39 [[ 9.99908279e-01 -2.58772782e-03 1.32942337e-02 3.99016610e+01] [ 2.58610590e-03 9.99996646e-01 1.39191354e-04 -2.34521407e+00] [-1.32945493e-02 -1.04798291e-04 9.99911618e-01 -3.86444384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642414037 meters 0.10099659486221367 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.35, Z:-0.39 [[ 9.99905365e-01 -2.13890389e-03 1.35899108e-02 3.99015975e+01] [ 2.12068149e-03 9.99996833e-01 1.35514586e-03 -2.34840180e+00] [-1.35927663e-02 -1.32619774e-03 9.99906735e-01 -3.87242636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702414037 meters 0.1038435315928628 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.35, Z:-0.39 [[ 9.99891720e-01 -5.42121209e-03 1.36806185e-02 3.99022211e+01] [ 5.43611755e-03 9.99984670e-01 -1.05257939e-03 -2.35272375e+00] [-1.36747025e-02 1.12683486e-03 9.99905862e-01 -3.88477921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762414037 meters 0.10722095244832527 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.36, Z:-0.39 [[ 9.99890400e-01 -4.88737080e-03 1.39750653e-02 3.99021135e+01] [ 4.88183027e-03 9.99987991e-01 4.30544195e-04 -2.35687580e+00] [-1.39770017e-02 -3.62273110e-04 9.99902251e-01 -3.89195154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822414037 meters 0.1016500740688837 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.36, Z:-0.39 [[ 9.99886984e-01 -4.57025242e-03 1.43224183e-02 3.99011316e+01] [ 4.54839809e-03 9.99988442e-01 1.55808523e-03 -2.36140276e+00] [-1.43293736e-02 -1.49276509e-03 9.99896215e-01 -3.88568056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882414037 meters 0.10215604298477308 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.36, Z:-0.39 [[ 9.99891657e-01 -4.28927434e-03 1.40810547e-02 3.99014761e+01] [ 4.26283886e-03 9.99989096e-01 1.90685665e-03 -2.36206854e+00] [-1.40890802e-02 -1.84662479e-03 9.99899039e-01 -3.88377410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942414037 meters 0.10346394901927755 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.36, Z:-0.39 [[ 9.99900368e-01 -3.40343210e-03 1.36993149e-02 3.99026882e+01] [ 3.36134651e-03 9.99989564e-01 3.09394831e-03 -2.36485062e+00] [-1.37097019e-02 -3.04759191e-03 9.99901373e-01 -3.89112012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002414037 meters 0.10534395482161331 Centerline is valid? [False, False] Translation: X:39.90, Y:-2.37, Z:-0.39 [[ 9.99907067e-01 -2.72919046e-03 1.33569736e-02 3.99036415e+01] [ 2.67612676e-03 9.99988463e-01 3.98899603e-03 -2.36688977e+00] [-1.33677062e-02 -3.95288036e-03 9.99902835e-01 -3.89570518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062414036999996 meters 0.09909862786973621 Centerline is valid? [False, True] Translation: X:39.90, Y:-2.37, Z:-0.39 [[ 9.99909029e-01 -2.80910018e-03 1.31925594e-02 3.99036132e+01] [ 2.75969989e-03 9.99989118e-01 3.76126964e-03 -2.36649006e+00] [-1.32029816e-02 -3.72451996e-03 9.99905900e-01 -3.89047732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122414037 meters 0.09879634747241636 Centerline is valid? [True, True] Translation: X:39.96, Y:-2.38, Z:-0.39 [[ 9.99909787e-01 -2.05777789e-03 1.32734060e-02 3.99647974e+01] [ 2.07814116e-03 9.99996685e-01 -1.52053032e-03 -2.37575545e+00] [-1.32702331e-02 1.54797716e-03 9.99910748e-01 -3.91138983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182414037 meters 0.09977581247351099 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.39, Z:-0.39 [[ 9.99910577e-01 -2.09743560e-03 1.32075211e-02 4.00261956e+01] [ 2.11761316e-03 9.99996612e-01 -1.51393310e-03 -2.38813644e+00] [-1.32043010e-02 1.54176614e-03 9.99911631e-01 -3.94916812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242414036999996 meters 0.09986650176715725 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.39, Z:-0.40 [[ 9.99936040e-01 -2.38406081e-03 1.10558254e-02 4.00884420e+01] [ 2.39822005e-03 9.99996321e-01 -1.26762272e-03 -2.39159895e+00] [-1.10527627e-02 1.29405595e-03 9.99938079e-01 -3.97157724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302414037 meters 0.10028447868609464 Centerline is valid? [True, False] Translation: X:40.09, Y:-2.39, Z:-0.40 [[ 9.99937686e-01 -1.88296269e-03 1.10035835e-02 4.00888491e+01] [ 1.88820841e-03 9.99998109e-01 -4.66358324e-04 -2.39376706e+00] [-1.10026846e-02 4.87106322e-04 9.99939350e-01 -3.97617959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362414037 meters 0.1005236744399549 Centerline is valid? [False, False] Translation: X:40.09, Y:-2.40, Z:-0.40 [[ 9.99937548e-01 -1.54445401e-03 1.10686497e-02 4.00892117e+01] [ 1.54286556e-03 9.99998798e-01 1.52046187e-04 -2.39525389e+00] [-1.10688712e-02 -1.34959253e-04 9.99938729e-01 -3.98365522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422414037 meters 0.09826078635181686 Centerline is valid? [False, True] Translation: X:40.09, Y:-2.39, Z:-0.40 [[ 9.99931464e-01 1.53921638e-03 1.16059163e-02 4.00876744e+01] [-1.57338662e-03 9.99994453e-01 2.93565368e-03 -2.39202334e+00] [-1.16013333e-02 -2.95371307e-03 9.99928340e-01 -3.97508186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482414037 meters 0.09971250386205315 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.40, Z:-0.40 [[ 9.99939569e-01 2.14503314e-03 1.07822785e-02 4.01495549e+01] [-2.13089132e-03 9.99996855e-01 -1.32289715e-03 -2.39907499e+00] [-1.07850822e-02 1.29984134e-03 9.99940994e-01 -4.00184347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542414037 meters 0.1051002789526668 Centerline is valid? [True, False] Translation: X:40.15, Y:-2.40, Z:-0.40 [[ 9.99940808e-01 2.23643894e-03 1.06479097e-02 4.01501237e+01] [-2.22198939e-03 9.99996595e-01 -1.36866845e-03 -2.39859213e+00] [-1.06509344e-02 1.34492790e-03 9.99942373e-01 -4.00657514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602414037 meters 0.10049471153211087 Centerline is valid? [False, False] Translation: X:40.15, Y:-2.39, Z:-0.40 [[ 9.99947091e-01 2.27388456e-03 1.00322160e-02 4.01515794e+01] [-2.25366661e-03 9.99995408e-01 -2.02614723e-03 -2.39483671e+00] [-1.00367772e-02 2.00343075e-03 9.99947623e-01 -4.01094827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662414037 meters 0.09765398898751636 Centerline is valid? [False, True] Translation: X:40.15, Y:-2.39, Z:-0.40 [[ 9.99933643e-01 5.60506414e-03 1.00644547e-02 4.01509938e+01] [-5.61195771e-03 9.99984037e-01 6.56831045e-04 -2.39084182e+00] [-1.00606125e-02 -7.13268754e-04 9.99949136e-01 -4.00261719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722414037 meters 0.09973923282880491 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.40, Z:-0.41 [[ 9.99937623e-01 6.85424497e-03 8.81871852e-03 4.02106074e+01] [-6.84503594e-03 9.99975996e-01 -1.07401980e-03 -2.39997278e+00] [-8.82586843e-03 1.01358836e-03 9.99960538e-01 -4.05108427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782414037 meters 0.10024688260907014 Centerline is valid? [True, False] Translation: X:40.21, Y:-2.40, Z:-0.41 [[ 9.99940122e-01 6.71181042e-03 8.64309208e-03 4.02112852e+01] [-6.69901887e-03 9.99976424e-01 -1.50807484e-03 -2.39826649e+00] [-8.65301023e-03 1.45008430e-03 9.99961511e-01 -4.05616318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842414037 meters 0.10219115466427693 Centerline is valid? [False, False] Translation: X:40.21, Y:-2.40, Z:-0.41 [[ 9.99940482e-01 6.69092946e-03 8.61762286e-03 4.02117305e+01] [-6.67715332e-03 9.99976385e-01 -1.62638187e-03 -2.39739500e+00] [-8.62830136e-03 1.56874388e-03 9.99961545e-01 -4.06207478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902414037 meters 0.10178259995780943 Centerline is valid? [False, False] Translation: X:40.21, Y:-2.39, Z:-0.41 [[ 9.99944890e-01 6.22152692e-03 8.45629204e-03 4.02121138e+01] [-6.20012372e-03 9.99977515e-01 -2.55490170e-03 -2.39442271e+00] [-8.47199729e-03 2.50233084e-03 9.99960981e-01 -4.06301154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962414037 meters 0.10221370194887995 Centerline is valid? [False, False] Translation: X:40.22, Y:-2.39, Z:-0.40 [[ 9.99997101e-01 1.79204782e-03 1.60851494e-03 4.02230506e+01] [-1.79163293e-03 9.99998361e-01 -2.59338627e-04 -2.38985903e+00] [-1.60897705e-03 2.56456007e-04 9.99998673e-01 -4.04197357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022414037 meters 0.1015834216046829 Centerline is valid? [False, False] Translation: X:40.22, Y:-2.39, Z:-0.40 [[ 9.99997136e-01 1.93717548e-03 1.40532214e-03 4.02238787e+01] [-1.93682660e-03 9.99998093e-01 -2.49576876e-04 -2.38917082e+00] [-1.40580294e-03 2.46854296e-04 9.99998981e-01 -4.04807993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082414037 meters 0.09901604755473116 Centerline is valid? [False, True] Translation: X:40.22, Y:-2.38, Z:-0.40 [[ 9.99998381e-01 1.51465668e-03 9.71346689e-04 4.02246494e+01] [-1.51322739e-03 9.99997774e-01 -1.47049960e-03 -2.38493493e+00] [-9.73571828e-04 1.46902735e-03 9.99998447e-01 -4.04743549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142414037 meters 0.1063923250191414 Centerline is valid? [True, False] Translation: X:40.23, Y:-2.38, Z:-0.41 [[ 9.99998776e-01 1.48180753e-03 5.02690882e-04 4.02260250e+01] [-1.48076683e-03 9.99996773e-01 -2.06436704e-03 -2.38164709e+00] [-5.05748254e-04 2.06362015e-03 9.99997743e-01 -4.05417341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202414037 meters 0.10211918939518144 Centerline is valid? [False, False] Translation: X:40.23, Y:-2.38, Z:-0.41 [[ 9.99999369e-01 1.08118676e-03 3.04036366e-04 4.02265291e+01] [-1.08029203e-03 9.99995131e-01 -2.92776660e-03 -2.37859859e+00] [-3.07200348e-04 2.92743631e-03 9.99995668e-01 -4.05582898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262414037 meters 0.10109645166908304 Centerline is valid? [False, False] Translation: X:40.23, Y:-2.38, Z:-0.41 [[ 9.99999790e-01 6.08006704e-04 2.22639047e-04 4.02268457e+01] [-6.07128950e-04 9.99992126e-01 -3.92156398e-03 -2.37541250e+00] [-2.25021631e-04 3.92142799e-03 9.99992286e-01 -4.05814944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322414037 meters 0.10111235613375687 Centerline is valid? [False, False] Translation: X:40.23, Y:-2.37, Z:-0.41 [[ 9.99999992e-01 6.14841744e-05 -1.12648693e-04 4.02273283e+01] [-6.20677099e-05 9.99986543e-01 -5.18747525e-03 -2.37134962e+00] [ 1.12328229e-04 5.18748220e-03 9.99986539e-01 -4.05547390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382414037 meters 0.10463732302628746 Centerline is valid? [False, False] Translation: X:40.23, Y:-2.37, Z:-0.41 [[ 9.99992892e-01 3.75788695e-03 -3.05971857e-04 4.02284119e+01] [-3.75854724e-03 9.99990546e-01 -2.18680734e-03 -2.36643040e+00] [ 2.97751189e-04 2.18794181e-03 9.99997562e-01 -4.06538862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442414037 meters 0.09932593919819825 Centerline is valid? [False, True] Translation: X:40.23, Y:-2.36, Z:-0.41 [[ 9.99993698e-01 3.50355732e-03 -5.73210119e-04 4.02291756e+01] [-3.50524287e-03 9.99989457e-01 -2.96644899e-03 -2.36366056e+00] [ 5.62810952e-04 2.96843954e-03 9.99995436e-01 -4.06980012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502414037 meters 0.09783325808389863 Centerline is valid? [True, True] Translation: X:40.29, Y:-2.37, Z:-0.41 [[ 9.99987714e-01 4.47021539e-03 2.14197766e-03 4.02888491e+01] [-4.46970108e-03 9.99989981e-01 -2.44836872e-04 -2.36604127e+00] [-2.14305068e-03 2.35259864e-04 9.99997676e-01 -4.09218502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562414036999996 meters 0.09945932216437284 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.37, Z:-0.41 [[ 9.99989671e-01 3.97912910e-03 2.19624450e-03 4.03484337e+01] [-3.97858960e-03 9.99992054e-01 -2.49960431e-04 -2.37161265e+00] [-2.19722167e-03 2.41219894e-04 9.99997557e-01 -4.10710107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622414037 meters 0.09890218435933529 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.37, Z:-0.41 [[ 9.99986935e-01 3.94137146e-03 3.25492411e-03 4.04091407e+01] [-3.94018628e-03 9.99992169e-01 -3.70451575e-04 -2.37466565e+00] [-3.25635871e-03 3.57621728e-04 9.99994634e-01 -4.10711769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682414037 meters 0.09981097370732152 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.38, Z:-0.41 [[ 9.99988139e-01 2.44057258e-03 4.21484344e-03 4.04692550e+01] [-2.43857210e-03 9.99996912e-01 -4.79702549e-04 -2.38063278e+00] [-4.21600117e-03 4.69418659e-04 9.99991002e-01 -4.13583048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742414036999996 meters 0.10123203759698254 Centerline is valid? [True, False] Translation: X:40.47, Y:-2.38, Z:-0.41 [[ 9.99990134e-01 2.27762318e-03 3.81376308e-03 4.04706506e+01] [-2.27296267e-03 9.99996665e-01 -1.22591388e-03 -2.37692540e+00] [-3.81654254e-03 1.21723324e-03 9.99991976e-01 -4.14513790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802414037 meters 0.09857751694390879 Centerline is valid? [False, True] Translation: X:40.47, Y:-2.37, Z:-0.42 [[ 9.99992460e-01 2.34510365e-03 3.09528426e-03 4.04724893e+01] [-2.33926080e-03 9.99995478e-01 -1.88993413e-03 -2.37310436e+00] [-3.09970235e-03 1.88267920e-03 9.99993424e-01 -4.15230591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862414037 meters 0.0986528512414479 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.38, Z:-0.42 [[ 9.99981011e-01 4.85700700e-03 3.79290444e-03 4.05329547e+01] [-4.85544022e-03 9.99988123e-01 -4.22183040e-04 -2.37622336e+00] [-3.79490993e-03 4.03758803e-04 9.99992718e-01 -4.17457807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922414037 meters 0.10277542948334452 Centerline is valid? [True, False] Translation: X:40.53, Y:-2.37, Z:-0.42 [[ 9.99983492e-01 4.69721937e-03 3.30932705e-03 4.05341552e+01] [-4.69293051e-03 9.99988140e-01 -1.30256796e-03 -2.37257555e+00] [-3.31540625e-03 1.28701602e-03 9.99993676e-01 -4.17796526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982414037 meters 0.09906286915604774 Centerline is valid? [False, True] Translation: X:40.54, Y:-2.37, Z:-0.42 [[ 9.99984124e-01 4.75150390e-03 3.02885977e-03 4.05351407e+01] [-4.74678447e-03 9.99987512e-01 -1.56344460e-03 -2.37091643e+00] [-3.03625066e-03 1.54904244e-03 9.99994191e-01 -4.18431632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042414037 meters 0.10428584603865125 Centerline is valid? [True, False] Translation: X:40.54, Y:-2.37, Z:-0.42 [[ 9.99985770e-01 4.81132841e-03 2.30464696e-03 4.05370135e+01] [-4.80593218e-03 9.99985711e-01 -2.34129869e-03 -2.36629165e+00] [-2.31587878e-03 2.33018940e-03 9.99994603e-01 -4.19203987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102414037 meters 0.09637779232214246 Centerline is valid? [False, True] Translation: X:40.54, Y:-2.36, Z:-0.42 [[ 9.99986251e-01 4.88043970e-03 1.91815473e-03 4.05380856e+01] [-4.87536112e-03 9.99984621e-01 -2.64345240e-03 -2.36445223e+00] [-1.93102644e-03 2.63406435e-03 9.99994666e-01 -4.19620126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162414037 meters 0.09728117359775955 Centerline is valid? [True, True] Translation: X:40.60, Y:-2.37, Z:-0.43 [[ 9.99988452e-01 4.52806782e-03 1.60984018e-03 4.05965614e+01] [-4.52780180e-03 9.99989735e-01 -1.68850620e-04 -2.37365225e+00] [-1.61058822e-03 1.61559633e-04 9.99998690e-01 -4.25475269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222414037 meters 0.09891671902575729 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.38, Z:-0.43 [[ 9.99990400e-01 3.57104357e-03 2.53917295e-03 4.06555252e+01] [-3.57038041e-03 9.99993591e-01 -2.65654846e-04 -2.38287786e+00] [-2.54010534e-03 2.56586482e-04 9.99996741e-01 -4.27673165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282414037 meters 0.09694835568803074 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.38, Z:-0.42 [[ 9.99976805e-01 3.36774880e-03 5.92012704e-03 4.07162525e+01] [-3.36415168e-03 9.99994151e-01 -6.17460326e-04 -2.38246600e+00] [-5.92217186e-03 5.97529799e-04 9.99982285e-01 -4.23923558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342414037 meters 0.09720697480114997 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.39, Z:-0.43 [[ 9.99986533e-01 4.38135323e-03 2.78147472e-03 4.07779085e+01] [-4.38058175e-03 9.99990365e-01 -2.83395463e-04 -2.38778362e+00] [-2.78268958e-03 2.71207169e-04 9.99996092e-01 -4.29267325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402414037 meters 0.09579349416421241 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.39, Z:-0.43 [[ 9.99989010e-01 4.60164436e-03 8.97401495e-04 4.08378306e+01] [-4.60156162e-03 9.99989408e-01 -9.42362293e-05 -2.39094548e+00] [-8.97825631e-04 9.01057453e-05 9.99999593e-01 -4.32480478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462414037 meters 0.09672418626826816 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.40, Z:-0.43 [[ 9.99979172e-01 5.29152810e-03 3.69525550e-03 4.08963506e+01] [-5.29013814e-03 9.99985933e-01 -3.85818483e-04 -2.39616729e+00] [-3.69724508e-03 3.66262035e-04 9.99993098e-01 -4.33458260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522414037 meters 0.0952978208766082 Centerline is valid? [True, True] Translation: X:40.96, Y:-2.40, Z:-0.43 [[ 9.99951403e-01 6.32584239e-03 7.56143672e-03 4.09570481e+01] [-6.32004997e-03 9.99979716e-01 -7.89696156e-04 -2.39852854e+00] [-7.56627884e-03 7.41869121e-04 9.99971100e-01 -4.30438570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582414037 meters 0.09593797658170151 Centerline is valid? [True, True] Translation: X:41.02, Y:-2.41, Z:-0.43 [[ 9.99952172e-01 7.29422218e-03 6.51519342e-03 4.10185012e+01] [-7.28995001e-03 9.99973197e-01 -6.79231735e-04 -2.40553235e+00] [-6.51997327e-03 6.31703815e-04 9.99978545e-01 -4.32863606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642414037 meters 0.09930423779631328 Centerline is valid? [True, True] Translation: X:41.08, Y:-2.42, Z:-0.44 [[ 9.99973962e-01 5.70646277e-03 4.41724273e-03 4.10776362e+01] [-5.70448570e-03 9.99983623e-01 -4.60050855e-04 -2.41785475e+00] [-4.41979566e-03 4.34840778e-04 9.99990138e-01 -4.37103563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702414037 meters 0.09832108728578114 Centerline is valid? [True, True] Translation: X:41.14, Y:-2.42, Z:-0.44 [[ 9.99985672e-01 3.89339751e-03 3.67380889e-03 4.11376657e+01] [-3.89201290e-03 9.99992352e-01 -3.83959042e-04 -2.42372786e+00] [-3.67527570e-03 3.69655029e-04 9.99993178e-01 -4.39216908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762414037 meters 0.09448592859655557 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.42, Z:-0.44 [[ 9.99979470e-01 3.98539375e-03 5.01767405e-03 4.11986469e+01] [-3.98281104e-03 9.99991931e-01 -5.24611418e-04 -2.42432653e+00] [-5.01972435e-03 5.04616200e-04 9.99987274e-01 -4.38584385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822414037 meters 0.09565694873742293 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.43, Z:-0.44 [[ 9.99971569e-01 5.93039909e-03 4.65734368e-03 4.12584524e+01] [-5.92819489e-03 9.99982310e-01 -4.86937901e-04 -2.43172597e+00] [-4.66014902e-03 4.59314416e-04 9.99989036e-01 -4.39644499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882414037 meters 0.09670900456280998 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.44, Z:-0.44 [[ 9.99964300e-01 6.57332406e-03 5.30942430e-03 4.13179315e+01] [-6.57046839e-03 9.99978260e-01 -5.55114697e-04 -2.44170471e+00] [-5.31295782e-03 5.20209475e-04 9.99985751e-01 -4.42694401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942414037 meters 0.09656900619475754 Centerline is valid? [True, True] Translation: X:41.38, Y:-2.45, Z:-0.45 [[ 9.99967422e-01 6.60484798e-03 4.64023616e-03 4.13781421e+01] [-6.60266713e-03 9.99978084e-01 -4.85149264e-04 -2.44894638e+00] [-4.64333880e-03 4.54495524e-04 9.99989116e-01 -4.45215754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002414037 meters 0.09496424980765548 Centerline is valid? [True, True] Translation: X:41.44, Y:-2.45, Z:-0.45 [[ 9.99977374e-01 6.11774772e-03 2.79733114e-03 4.14378955e+01] [-6.11695197e-03 9.99981248e-01 -2.92934415e-04 -2.45368763e+00] [-2.79907078e-03 2.75816647e-04 9.99996045e-01 -4.47489426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062414036999996 meters 0.09611747648390047 Centerline is valid? [True, True] Translation: X:41.50, Y:-2.46, Z:-0.45 [[ 9.99968800e-01 6.81478049e-03 3.99471981e-03 4.14963263e+01] [-6.81316263e-03 9.99976703e-01 -4.18466205e-04 -2.46244687e+00] [-3.99747850e-03 3.91236473e-04 9.99991934e-01 -4.46945841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122414037 meters 0.0963944770388834 Centerline is valid? [True, True] Translation: X:41.56, Y:-2.47, Z:-0.45 [[ 9.99965718e-01 6.58631067e-03 5.01836789e-03 4.15559351e+01] [-6.58375676e-03 9.99978189e-01 -5.25262053e-04 -2.47053303e+00] [-5.02171798e-03 4.92204332e-04 9.99987270e-01 -4.47269320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182414037 meters 0.09892878999707322 Centerline is valid? [True, True] Translation: X:41.62, Y:-2.48, Z:-0.45 [[ 9.99977876e-01 5.99883197e-03 2.87435911e-03 4.16156132e+01] [-5.99799467e-03 9.99981967e-01 -2.99832416e-04 -2.48277598e+00] [-2.87610592e-03 2.82585392e-04 9.99995824e-01 -4.51545407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242414036999996 meters 0.09330432720762476 Centerline is valid? [True, True] Translation: X:41.68, Y:-2.48, Z:-0.45 [[ 9.99983486e-01 5.74596402e-03 -1.09769536e-04 4.16758719e+01] [-5.74596291e-03 9.99983492e-01 1.04168943e-05 -2.47834532e+00] [ 1.09827579e-04 -9.78599054e-06 9.99999994e-01 -4.53561810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302414037 meters 0.09672284803274195 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.49, Z:-0.46 [[ 9.99973235e-01 7.30928211e-03 3.21135406e-04 4.17341024e+01] [-7.30927138e-03 9.99973286e-01 -3.45623497e-05 -2.49181437e+00] [-3.21379453e-04 3.22141589e-05 9.99999948e-01 -4.57497385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362414037 meters 0.09342526397790687 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.49, Z:-0.46 [[ 9.99935458e-01 1.09779774e-02 2.92651792e-03 4.17949158e+01] [-1.09771291e-02 9.99939703e-01 -3.05778326e-04 -2.49226443e+00] [-2.92969829e-03 2.73633825e-04 9.99995671e-01 -4.55090982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422414037 meters 0.0921630191113776 Centerline is valid? [True, True] Translation: X:41.86, Y:-2.50, Z:-0.45 [[ 9.99904220e-01 1.28548557e-02 5.12859922e-03 4.18556211e+01] [-1.28522764e-02 9.99917263e-01 -5.35563465e-04 -2.49616691e+00] [-5.13505949e-03 4.69597994e-04 9.99986705e-01 -4.54063282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482414037 meters 0.09124277538821687 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.50, Z:-0.45 [[ 9.99916530e-01 1.20810911e-02 4.58037211e-03 4.19150137e+01] [-1.20790222e-02 9.99926931e-01 -4.79080006e-04 -2.50165851e+00] [-4.58582524e-03 4.23713601e-04 9.99989395e-01 -4.54581686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542414037 meters 0.09164936335054193 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.51, Z:-0.46 [[ 9.99929585e-01 1.13893456e-02 3.33282837e-03 4.19740189e+01] [-1.13882459e-02 9.99935091e-01 -3.48761640e-04 -2.50997757e+00] [-3.33658421e-03 3.10782013e-04 9.99994385e-01 -4.58434406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602414037 meters 0.09399982439709814 Centerline is valid? [True, True] Translation: X:42.03, Y:-2.52, Z:-0.46 [[ 9.99963481e-01 8.52486834e-03 -6.02871918e-04 4.20330250e+01] [-8.52483225e-03 9.99963661e-01 6.24147332e-05 -2.52064893e+00] [ 6.03382088e-04 -5.72730719e-05 9.99999816e-01 -4.63861153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662414037 meters 0.09377811803683035 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.53, Z:-0.47 [[ 9.99973244e-01 7.31400292e-03 -1.25881810e-04 4.20925596e+01] [-7.31400146e-03 9.99973252e-01 1.20985495e-05 -2.52589629e+00] [ 1.25966932e-04 -1.11775260e-05 9.99999992e-01 -4.65522261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722414037 meters 0.09759720071436583 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.54, Z:-0.47 [[ 9.99983310e-01 4.45965985e-03 3.67308419e-03 4.21506054e+01] [-4.45828104e-03 9.99989988e-01 -3.83484758e-04 -2.54214915e+00] [-3.67475763e-03 3.67102716e-04 9.99993181e-01 -4.67876688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782414037 meters 0.09656138935089194 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.55, Z:-0.46 [[ 9.99984490e-01 1.20855920e-03 5.43676821e-03 4.22108850e+01] [-1.20549584e-03 9.99999113e-01 -5.66693940e-04 -2.54535449e+00] [-5.43744827e-03 5.60131150e-04 9.99985060e-01 -4.64316114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842414037 meters 0.09800199226345917 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.55, Z:-0.47 [[ 9.99991437e-01 -1.93290816e-04 4.13379320e-03 4.22711207e+01] [ 1.95072494e-04 9.99999888e-01 -4.30604294e-04 -2.55223661e+00] [-4.13370950e-03 4.31406996e-04 9.99991363e-01 -4.66917537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902414037 meters 0.09834851020134808 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.56, Z:-0.47 [[ 9.99996789e-01 7.29390878e-04 2.42691871e-03 4.23322161e+01] [-7.28783279e-04 9.99999703e-01 -2.51233065e-04 -2.56023896e+00] [-2.42710124e-03 2.49463560e-04 9.99997023e-01 -4.74011055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962414037 meters 0.09639289440169672 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.56, Z:-0.48 [[ 9.99991691e-01 1.77294470e-03 3.67072727e-03 4.23937181e+01] [-1.77155369e-03 9.99998358e-01 -3.82163439e-04 -2.56303769e+00] [-3.67139880e-03 3.75657373e-04 9.99993190e-01 -4.75341821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022414037 meters 0.09510668853814333 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.56, Z:-0.48 [[ 9.99962430e-01 5.69626910e-03 6.53383035e-03 4.24544700e+01] [-5.69193500e-03 9.99983568e-01 -6.81736720e-04 -2.56498167e+00] [-6.53760634e-03 6.44520969e-04 9.99978422e-01 -4.75006224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082414037 meters 0.0956416013560525 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.57, Z:-0.48 [[ 9.99901918e-01 1.15157484e-02 7.97133733e-03 4.25136023e+01] [-1.15094730e-02 9.99933417e-01 -8.32675449e-04 -2.57268212e+00] [-7.98039545e-03 7.40847886e-04 9.99967882e-01 -4.77260495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142414037 meters 0.09302591596844628 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.57, Z:-0.48 [[ 9.99865177e-01 1.40388647e-02 8.51688207e-03 4.25746078e+01] [-1.40317960e-02 9.99901154e-01 -8.89159417e-04 -2.57335396e+00] [-8.52852300e-03 7.69532386e-04 9.99963335e-01 -4.78011064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202414037 meters 0.0894153957571226 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.57, Z:-0.48 [[ 9.99859402e-01 1.52785822e-02 6.90948911e-03 4.26353556e+01] [-1.52739571e-02 9.99883086e-01 -7.21659093e-04 -2.57133348e+00] [-6.91970722e-03 6.16022388e-04 9.99975869e-01 -4.79744505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262414037 meters 0.09791922676920545 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.59, Z:-0.49 [[ 9.99869725e-01 1.50967620e-02 5.71152751e-03 4.26917418e+01] [-1.50935941e-02 9.99885907e-01 -5.97354337e-04 -2.59474956e+00] [-5.71989398e-03 5.11069038e-04 9.99983511e-01 -4.87940327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322414037 meters 0.0898085077866585 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.58, Z:-0.49 [[ 9.99876213e-01 1.51188132e-02 4.35665836e-03 4.27518541e+01] [-1.51169676e-02 9.99885628e-01 -4.56252495e-04 -2.58437821e+00] [-4.36305807e-03 3.90336553e-04 9.99990406e-01 -4.87357602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382414037 meters 0.09000405573668613 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.59, Z:-0.49 [[ 9.99876803e-01 1.48214168e-02 5.16768917e-03 4.28106534e+01] [-1.48188200e-02 9.99890049e-01 -5.40440584e-04 -2.59136977e+00] [-5.17513108e-03 4.63794948e-04 9.99986501e-01 -4.89759522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442414037 meters 0.09181493553244154 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.60, Z:-0.49 [[ 9.99859256e-01 1.44942283e-02 8.44894783e-03 4.28674916e+01] [-1.44872881e-02 9.99894665e-01 -8.82050823e-04 -2.60285008e+00] [-8.46084250e-03 7.59524338e-04 9.99963918e-01 -4.90661410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502414037 meters 0.09208516945920742 Centerline is valid? [True, True] Translation: X:42.93, Y:-2.61, Z:-0.49 [[ 9.99862753e-01 1.46541911e-02 7.72854063e-03 4.29270168e+01] [-1.46484013e-02 9.99892382e-01 -8.05219887e-04 -2.60924900e+00] [-7.73950875e-03 6.91898608e-04 9.99969810e-01 -4.91496385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562414036999996 meters 0.09021193224974351 Centerline is valid? [True, True] Translation: X:42.99, Y:-2.61, Z:-0.49 [[ 9.99842071e-01 1.59256930e-02 7.88699368e-03 4.29874200e+01] [-1.59197078e-02 9.99872936e-01 -8.21073600e-04 -2.61131837e+00] [-7.89906769e-03 6.95385295e-04 9.99968560e-01 -4.92053645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622414037 meters 0.08959039074001884 Centerline is valid? [True, True] Translation: X:43.05, Y:-2.62, Z:-0.49 [[ 9.99744760e-01 2.07333828e-02 8.97449757e-03 4.30480788e+01] [-2.07258321e-02 9.99784761e-01 -9.33548882e-04 -2.61622092e+00] [-8.99192153e-03 7.47306674e-04 9.99959293e-01 -4.93843143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682414037 meters 0.08747138697553328 Centerline is valid? [True, True] Translation: X:43.11, Y:-2.61, Z:-0.49 [[ 9.99650797e-01 2.50410397e-02 8.43986049e-03 4.31088351e+01] [-2.50345057e-02 9.99686201e-01 -8.78955670e-04 -2.61470053e+00] [-8.45922203e-03 6.67361000e-04 9.99963997e-01 -4.94926772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742414036999996 meters 0.08634740045650276 Centerline is valid? [True, True] Translation: X:43.17, Y:-2.62, Z:-0.50 [[ 9.99535495e-01 2.94059727e-02 8.00514920e-03 4.31694324e+01] [-2.94002418e-02 9.99567373e-01 -8.32674767e-04 -2.61772610e+00] [-8.02617156e-03 5.96934664e-04 9.99967612e-01 -4.98696210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802414037 meters 0.08399167528358284 Centerline is valid? [True, True] Translation: X:43.23, Y:-2.62, Z:-0.50 [[ 9.99340384e-01 3.55193076e-02 7.56149078e-03 4.32297286e+01] [-3.55143663e-02 9.99368856e-01 -7.86800730e-04 -2.61855327e+00] [-7.58466501e-03 5.17740190e-04 9.99971102e-01 -5.02006188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862414037 meters 0.08430230778241557 Centerline is valid? [True, True] Translation: X:43.29, Y:-2.63, Z:-0.50 [[ 9.99264616e-01 3.75140962e-02 7.93224805e-03 4.32885928e+01] [-3.75087191e-02 9.99295959e-01 -8.25616960e-04 -2.62541224e+00] [-7.95763570e-03 5.27481350e-04 9.99968198e-01 -5.03937779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922414037 meters 0.08463718896619414 Centerline is valid? [True, True] Translation: X:43.35, Y:-2.63, Z:-0.50 [[ 9.99112670e-01 4.11342488e-02 9.04690011e-03 4.33479521e+01] [-4.11274087e-02 9.99153467e-01 -9.40896130e-04 -2.62948000e+00] [-9.07794467e-03 5.67985686e-04 9.99958633e-01 -5.04735699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982414037 meters 0.08264019448208856 Centerline is valid? [True, True] Translation: X:43.41, Y:-2.63, Z:-0.51 [[ 9.99059343e-01 4.23883700e-02 9.14634341e-03 4.34071525e+01] [-4.23814269e-02 9.99101050e-01 -9.51688870e-04 -2.63246154e+00] [-9.17846184e-03 5.63158572e-04 9.99957718e-01 -5.05462668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042414037 meters 0.08509339602047361 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.65, Z:-0.51 [[ 9.99075890e-01 4.22284990e-02 8.00749748e-03 4.34639291e+01] [-4.22231683e-02 9.99107857e-01 -8.33682444e-04 -2.64763786e+00] [-8.03555880e-03 4.94810116e-04 9.99967592e-01 -5.11474167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102414037 meters 0.08264498560005967 Centerline is valid? [True, True] Translation: X:43.52, Y:-2.65, Z:-0.51 [[ 9.99048221e-01 4.30383633e-02 7.09585701e-03 4.35236208e+01] [-4.30342024e-02 9.99073327e-01 -7.38099303e-04 -2.64629036e+00] [-7.12104805e-03 4.32032249e-04 9.99974552e-01 -5.10736811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162414037 meters 0.08244578045433659 Centerline is valid? [True, True] Translation: X:43.58, Y:-2.65, Z:-0.51 [[ 9.99027797e-01 4.36225984e-02 6.36629061e-03 4.35821152e+01] [-4.36192623e-02 9.99048008e-01 -6.61992700e-04 -2.65163090e+00] [-6.38910779e-03 3.83656208e-04 9.99979516e-01 -5.12191540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222414037 meters 0.08200890163732591 Centerline is valid? [True, True] Translation: X:43.64, Y:-2.66, Z:-0.51 [[ 9.99019048e-01 4.36561370e-02 7.42185559e-03 4.36397975e+01] [-4.36516100e-02 9.99046517e-01 -7.70933492e-04 -2.66139226e+00] [-7.44843495e-03 4.46201298e-04 9.99972160e-01 -5.13132406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282414037 meters 0.08164582031674264 Centerline is valid? [True, True] Translation: X:43.70, Y:-2.67, Z:-0.51 [[ 9.99002177e-01 4.40483985e-02 7.37482394e-03 4.36984784e+01] [-4.40439458e-02 9.99029302e-01 -7.65174746e-04 -2.66979499e+00] [-7.40136993e-03 4.39594892e-04 9.99972513e-01 -5.14989502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342414037 meters 0.08162823670581507 Centerline is valid? [True, True] Translation: X:43.76, Y:-2.68, Z:-0.52 [[ 9.99015430e-01 4.39932895e-02 5.72375084e-03 4.37566209e+01] [-4.39906038e-02 9.99031768e-01 -5.94338004e-04 -2.67801765e+00] [-5.74435581e-03 3.41961581e-04 9.99983443e-01 -5.17085558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402414037 meters 0.08315284436166753 Centerline is valid? [True, True] Translation: X:43.81, Y:-2.70, Z:-0.52 [[ 9.98960013e-01 4.52326922e-02 5.73543325e-03 4.38132988e+01] [-4.52300183e-02 9.98976422e-01 -5.95125864e-04 -2.69587375e+00] [-5.75648173e-03 3.35093189e-04 9.99983375e-01 -5.21805335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462414037 meters 0.08032456548507548 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.70, Z:-0.52 [[ 9.98851543e-01 4.77453246e-02 3.99730986e-03 4.38724177e+01] [-4.77440443e-02 9.98859517e-01 -4.15152831e-04 -2.69820005e+00] [-4.01257260e-03 2.23828307e-04 9.99991925e-01 -5.20949334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522414037 meters 0.08044191065612782 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.71, Z:-0.52 [[ 9.98701110e-01 5.08287739e-02 3.53950193e-03 4.39301879e+01] [-5.08277911e-02 9.98707365e-01 -3.67117245e-04 -2.70748423e+00] [-3.55358676e-03 1.86735336e-04 9.99993669e-01 -5.23221469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582414037 meters 0.07925224351345535 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.71, Z:-0.53 [[ 9.98490054e-01 5.49029446e-02 1.81055984e-03 4.39897544e+01] [-5.49026946e-02 9.98491692e-01 -1.87489841e-04 -2.71322210e+00] [-1.81812270e-03 8.78021280e-05 9.99998343e-01 -5.25852380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642414037 meters 0.07826854660801413 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.72, Z:-0.53 [[ 9.98091315e-01 6.17527219e-02 5.72236080e-04 4.40501805e+01] [-6.17526984e-02 9.98091479e-01 -5.87079417e-05 -2.71998244e+00] [-5.74769331e-04 2.32587647e-05 9.99999835e-01 -5.30084383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702414037 meters 0.07729660602597409 Centerline is valid? [True, True] Translation: X:44.11, Y:-2.73, Z:-0.53 [[ 9.97758994e-01 6.67253922e-02 4.97112286e-03 4.41104094e+01] [-6.67236600e-02 9.97771361e-01 -5.13674248e-04 -2.72706650e+00] [-4.99431913e-03 1.80831590e-04 9.99987512e-01 -5.28553039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762414037 meters 0.07664388648732964 Centerline is valid? [True, True] Translation: X:44.17, Y:-2.74, Z:-0.53 [[ 9.97767940e-01 6.64911415e-02 6.16984215e-03 4.41683331e+01] [-6.64884352e-02 9.97786989e-01 -6.42951294e-04 -2.73665052e+00] [-6.19893879e-03 2.31293037e-04 9.99980760e-01 -5.27412621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822414037 meters 0.07723374477501643 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.75, Z:-0.53 [[ 9.97837845e-01 6.55998585e-02 4.03644669e-03 4.42254229e+01] [-6.55987045e-02 9.97845998e-01 -4.17787117e-04 -2.74947865e+00] [-4.05515895e-03 1.52098124e-04 9.99991766e-01 -5.30731145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882414037 meters 0.0781592776598041 Centerline is valid? [True, True] Translation: X:44.28, Y:-2.77, Z:-0.54 [[ 9.98074824e-01 6.20110978e-02 1.12663427e-03 4.42840029e+01] [-6.20110058e-02 9.98075459e-01 -1.16477014e-04 -2.76658425e+00] [-1.13168888e-03 4.63890513e-05 9.99999359e-01 -5.35134662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942414037 meters 0.07934021980699243 Centerline is valid? [True, True] Translation: X:44.34, Y:-2.78, Z:-0.54 [[ 9.98342354e-01 5.75546612e-02 -7.47236348e-05 4.43422129e+01] [-5.75546609e-02 9.98342357e-01 7.14100567e-06 -2.78404472e+00] [ 7.50107679e-05 -2.82847495e-06 9.99999997e-01 -5.39822332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002414037 meters 0.07933419964686554 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.79, Z:-0.54 [[ 9.98491569e-01 5.49035718e-02 4.28313910e-04 4.44008377e+01] [-5.49035570e-02 9.98491661e-01 -4.62075738e-05 -2.79383531e+00] [-4.30204828e-04 2.26219157e-05 9.99999907e-01 -5.40553421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062414036999996 meters 0.08057459662799347 Centerline is valid? [True, True] Translation: X:44.46, Y:-2.81, Z:-0.54 [[ 9.98708934e-01 5.07924949e-02 -7.66092267e-04 4.44591209e+01] [-5.07924495e-02 9.98709227e-01 7.86003482e-05 -2.81317797e+00] [ 7.69095724e-04 -3.95871672e-05 9.99999703e-01 -5.43074969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122414037 meters 0.08025853247817748 Centerline is valid? [True, True] Translation: X:44.52, Y:-2.83, Z:-0.54 [[ 9.98917547e-01 4.64399248e-02 -2.65840149e-03 4.45190181e+01] [-4.64393612e-02 9.98921073e-01 2.73385952e-04 -2.82558458e+00] [ 2.66822930e-03 -1.49635558e-04 9.99996429e-01 -5.43075016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182414037 meters 0.08159517858523412 Centerline is valid? [True, True] Translation: X:44.58, Y:-2.84, Z:-0.55 [[ 9.99017667e-01 4.42160009e-02 -2.94038940e-03 4.45764059e+01] [-4.42153095e-02 9.99021980e-01 2.99736207e-04 -2.83810927e+00] [ 2.95076678e-03 -1.69431539e-04 9.99995632e-01 -5.45910959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242414036999996 meters 0.08144100477541254 Centerline is valid? [True, True] Translation: X:44.63, Y:-2.85, Z:-0.55 [[ 9.99091381e-01 4.26093614e-02 -9.24010061e-04 4.46346897e+01] [-4.26092937e-02 9.99091807e-01 9.28253183e-05 -2.84731701e+00] [ 9.27126109e-04 -5.33695594e-05 9.99999569e-01 -5.46651557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302414037 meters 0.08273787166867307 Centerline is valid? [True, True] Translation: X:44.69, Y:-2.86, Z:-0.55 [[ 9.99197036e-01 4.00642465e-02 3.73384699e-04 4.46918829e+01] [-4.00642342e-02 9.99197105e-01 -4.04803708e-05 -2.86452801e+00] [-3.74706726e-04 2.54884946e-05 9.99999929e-01 -5.49866733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362414037 meters 0.08405957933791754 Centerline is valid? [True, True] Translation: X:44.75, Y:-2.88, Z:-0.55 [[ 9.99261220e-01 3.84319302e-02 2.85501589e-06 4.47490493e+01] [-3.84319302e-02 9.99261220e-01 -2.49039488e-06 -2.87858393e+00] [-2.94861736e-06 2.37883126e-06 1.00000000e+00 -5.52771108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422414037 meters 0.08433393332741826 Centerline is valid? [True, True] Translation: X:44.81, Y:-2.89, Z:-0.55 [[ 9.99247299e-01 3.87922096e-02 1.77902762e-07 4.48078593e+01] [-3.87922096e-02 9.99247299e-01 -1.49556804e-06 -2.88639475e+00] [-2.35785251e-07 1.48754108e-06 1.00000000e+00 -5.52913267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482414037 meters 0.08482328827099778 Centerline is valid? [True, True] Translation: X:44.87, Y:-2.90, Z:-0.55 [[ 9.99239376e-01 3.89949240e-02 2.54490439e-04 4.48660672e+01] [-3.89949182e-02 9.99239409e-01 -2.80145775e-05 -2.89611136e+00] [-2.55389302e-04 1.80694351e-05 9.99999967e-01 -5.54398351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542414037 meters 0.08275174028150657 Centerline is valid? [True, True] Translation: X:44.92, Y:-2.90, Z:-0.56 [[ 9.99221532e-01 3.94200787e-02 -1.54502572e-03 4.49249924e+01] [-3.94198843e-02 9.99222722e-01 1.56122246e-04 -2.90171963e+00] [ 1.54997916e-03 -9.50959742e-05 9.99998794e-01 -5.55820788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602414037 meters 0.0825569950524456 Centerline is valid? [True, True] Translation: X:44.98, Y:-2.91, Z:-0.56 [[ 9.99092501e-01 4.25511178e-02 -1.89101879e-03 4.49849604e+01] [-4.25508284e-02 9.99094285e-01 1.93040496e-04 -2.90584920e+00] [ 1.89752015e-03 -1.12400897e-04 9.99998193e-01 -5.57937578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662414037 meters 0.08074654249236055 Centerline is valid? [True, True] Translation: X:45.04, Y:-2.91, Z:-0.56 [[ 9.98908422e-01 4.65138050e-02 -4.29311453e-03 4.50449501e+01] [-4.65123474e-02 9.98917619e-01 4.38801704e-04 -2.90768956e+00] [ 4.30887808e-03 -2.38639883e-04 9.99990688e-01 -5.59417250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722414037 meters 0.0793514825167386 Centerline is valid? [True, True] Translation: X:45.10, Y:-2.91, Z:-0.56 [[ 9.98762556e-01 4.94800634e-02 -5.00803463e-03 4.51049187e+01] [-4.94781172e-02 9.98775077e-01 5.11855169e-04 -2.91004661e+00] [ 5.02722680e-03 -2.63433653e-04 9.99987329e-01 -5.60743100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782414037 meters 0.08074984212263477 Centerline is valid? [True, True] Translation: X:45.16, Y:-2.92, Z:-0.57 [[ 9.98697768e-01 5.06909904e-02 -5.76130110e-03 4.51618903e+01] [-5.06884577e-02 9.98714343e-01 5.84868299e-04 -2.91977101e+00] [ 5.78354160e-03 -2.92075197e-04 9.99983233e-01 -5.67121055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842414037 meters 0.0787943855657206 Centerline is valid? [True, True] Translation: X:45.22, Y:-2.92, Z:-0.56 [[ 9.98580457e-01 5.31736545e-02 -3.10372856e-03 4.52226377e+01] [-5.31729268e-02 9.98585269e-01 3.16572988e-04 -2.91775605e+00] [ 3.11617096e-03 -1.51089268e-04 9.99995133e-01 -5.64611256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902414037 meters 0.07936674437641894 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.93, Z:-0.57 [[ 9.98560623e-01 5.36188150e-02 -1.30577862e-03 4.52799917e+01] [-5.36186912e-02 9.98561475e-01 1.29625714e-04 -2.92675864e+00] [ 1.31085060e-03 -5.94249925e-05 9.99999139e-01 -5.66428817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962414037 meters 0.07962443473738491 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.94, Z:-0.57 [[ 9.98683651e-01 5.12635645e-02 -1.73581926e-03 4.53385129e+01] [-5.12633367e-02 9.98685155e-01 1.75500056e-04 -2.93554111e+00] [ 1.74253368e-03 -8.62851493e-05 9.99998478e-01 -5.67094883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022414037 meters 0.08107902190972693 Centerline is valid? [True, True] Translation: X:45.40, Y:-2.95, Z:-0.57 [[ 9.98922880e-01 4.60999277e-02 -5.27976914e-03 4.53977182e+01] [-4.60977263e-02 9.98936790e-01 5.37954505e-04 -2.94840859e+00] [ 5.29895530e-03 -2.93989710e-04 9.99985917e-01 -5.71831791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082414037 meters 0.08057587121157625 Centerline is valid? [True, True] Translation: X:45.46, Y:-2.95, Z:-0.57 [[ 9.99042750e-01 4.35740063e-02 -3.85874616e-03 4.54573791e+01] [-4.35728149e-02 9.99050177e-01 3.92317044e-04 -2.95201821e+00] [ 3.87217586e-03 -2.23805066e-04 9.99992478e-01 -5.70350695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142414037 meters 0.08171632235000555 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.96, Z:-0.57 [[ 9.99129812e-01 4.16450806e-02 -2.30332087e-03 4.55144090e+01] [-4.16446592e-02 9.99132458e-01 2.30617551e-04 -2.96352096e+00] [ 2.31092673e-03 -1.34495858e-04 9.99997321e-01 -5.72811756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202414037 meters 0.08249233423109116 Centerline is valid? [True, True] Translation: X:45.57, Y:-2.97, Z:-0.58 [[ 9.99228192e-01 3.92598187e-02 -1.29861401e-03 4.55735542e+01] [-3.92596813e-02 9.99229033e-01 1.31150289e-04 -2.97399793e+00] [ 1.30276176e-03 -8.00658945e-05 9.99999148e-01 -5.75331717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262414037 meters 0.08392294756255815 Centerline is valid? [True, True] Translation: X:45.63, Y:-2.98, Z:-0.58 [[ 9.99329298e-01 3.65513660e-02 -2.22504278e-03 4.56320573e+01] [-3.65509544e-02 9.99331765e-01 2.25380298e-04 -2.98189870e+00] [ 2.23179389e-03 -1.43901698e-04 9.99997499e-01 -5.77375607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322414037 meters 0.08406686668212555 Centerline is valid? [True, True] Translation: X:45.69, Y:-2.99, Z:-0.58 [[ 9.99392742e-01 3.47722346e-02 -2.24455211e-03 4.56915972e+01] [-3.47718115e-02 9.99395252e-01 2.27284759e-04 -2.98820054e+00] [ 2.25109792e-03 -1.49099596e-04 9.99997455e-01 -5.78279298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382414037 meters 0.08355250332431681 Centerline is valid? [True, True] Translation: X:45.75, Y:-3.00, Z:-0.58 [[ 9.99368256e-01 3.54365891e-02 -2.70877065e-03 4.57499254e+01] [-3.54359780e-02 9.99371911e-01 2.73297427e-04 -2.99503068e+00] [ 2.71675403e-03 -1.77136836e-04 9.99996294e-01 -5.79511400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442414037 meters 0.08214072825433627 Centerline is valid? [True, True] Translation: X:45.81, Y:-3.00, Z:-0.58 [[ 9.99322535e-01 3.67241556e-02 -2.41001123e-03 4.58093336e+01] [-3.67236753e-02 9.99325429e-01 2.43280844e-04 -2.99638226e+00] [ 2.41731979e-03 -1.54611559e-04 9.99997066e-01 -5.79898178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502414037 meters 0.08645964134090654 Centerline is valid? [True, True] Translation: X:45.87, Y:-3.01, Z:-0.59 [[ 9.99298486e-01 3.73856260e-02 -2.20267873e-03 4.58654373e+01] [-3.73852292e-02 9.99300904e-01 2.21031801e-04 -3.01276557e+00] [ 2.20940226e-03 -1.38529094e-04 9.99997550e-01 -5.87541916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562414036999996 meters 0.08087244405764915 Centerline is valid? [True, True] Translation: X:45.93, Y:-3.00, Z:-0.58 [[ 9.99251756e-01 3.86307175e-02 -1.89612717e-03 4.59258201e+01] [-3.86304258e-02 9.99253548e-01 1.90215384e-04 -3.00440749e+00] [ 1.90205996e-03 -1.16824856e-04 9.99998184e-01 -5.82567657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622414037 meters 0.08111726210082555 Centerline is valid? [True, True] Translation: X:45.98, Y:-3.01, Z:-0.59 [[ 9.99249950e-01 3.85954430e-02 -3.15114771e-03 4.59836855e+01] [-3.85946335e-02 9.99254899e-01 3.17303970e-04 -3.01239802e+00] [ 3.16104627e-03 -1.95448585e-04 9.99994985e-01 -5.85848774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682414037 meters 0.08129711678721913 Centerline is valid? [True, True] Translation: X:46.04, Y:-3.02, Z:-0.59 [[ 9.99235625e-01 3.90355928e-02 -2.09476288e-03 4.60404787e+01] [-3.90352389e-02 9.99237813e-01 2.09558171e-04 -3.02227138e+00] [ 2.10134651e-03 -1.27628420e-04 9.99997784e-01 -5.87320731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742414036999996 meters 0.08121671883075711 Centerline is valid? [True, True] Translation: X:46.10, Y:-3.03, Z:-0.59 [[ 9.99090060e-01 4.24437214e-02 -4.19310888e-03 4.60993232e+01] [-4.24423165e-02 9.99098829e-01 4.23501137e-04 -3.02687268e+00] [ 4.20730513e-03 -2.45150522e-04 9.99991119e-01 -5.90014691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802414037 meters 0.0803817931090871 Centerline is valid? [True, True] Translation: X:46.16, Y:-3.03, Z:-0.59 [[ 9.98889277e-01 4.69933370e-02 -3.44065632e-03 4.61593916e+01] [-4.69924155e-02 9.98895186e-01 3.48244256e-04 -3.03126111e+00] [ 3.45322019e-03 -1.86172702e-04 9.99994020e-01 -5.92061215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862414037 meters 0.07885078108215124 Centerline is valid? [True, True] Translation: X:46.22, Y:-3.03, Z:-0.59 [[ 9.98530680e-01 5.41107617e-02 -2.91669275e-03 4.62198816e+01] [-5.41101306e-02 9.98534930e-01 2.94925177e-04 -3.03396492e+00] [ 2.92837822e-03 -1.36669212e-04 9.99995703e-01 -5.93526305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922414037 meters 0.07717629700696668 Centerline is valid? [True, True] Translation: X:46.28, Y:-3.03, Z:-0.59 [[ 9.98289246e-01 5.84162875e-02 -2.47376904e-03 4.62807782e+01] [-5.84158474e-02 9.98292305e-01 2.49850634e-04 -3.03263511e+00] [ 2.48413994e-03 -1.04915886e-04 9.99996909e-01 -5.91140050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982414037 meters 0.07691195944702425 Centerline is valid? [True, True] Translation: X:46.34, Y:-3.04, Z:-0.59 [[ 9.98102973e-01 6.15260181e-02 -2.23715085e-03 4.63401251e+01] [-6.15256674e-02 9.98105476e-01 2.25317382e-04 -3.03991440e+00] [ 2.24677540e-03 -8.72477495e-05 9.99997472e-01 -5.93038151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042414037 meters 0.0773552045451955 Centerline is valid? [True, True] Translation: X:46.40, Y:-3.05, Z:-0.60 [[ 9.98237856e-01 5.92751253e-02 -2.76440823e-03 4.63990806e+01] [-5.92745808e-02 9.98241677e-01 2.78570006e-04 -3.05221397e+00] [ 2.77605978e-03 -1.14219986e-04 9.99996140e-01 -5.95916955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102414037 meters 0.0787372328624696 Centerline is valid? [True, True] Translation: X:46.46, Y:-3.06, Z:-0.60 [[ 9.98522703e-01 5.42457440e-02 -3.13213961e-03 4.64572401e+01] [-5.42450172e-02 9.98527605e-01 3.16586387e-04 -3.06491688e+00] [ 3.14470133e-03 -1.46215728e-04 9.99995045e-01 -5.97595094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162414037 meters 0.07942970700594357 Centerline is valid? [True, True] Translation: X:46.52, Y:-3.08, Z:-0.60 [[ 9.98847709e-01 4.77056191e-02 -5.23712427e-03 4.65164801e+01] [-4.77034987e-02 9.98861400e-01 5.29111170e-04 -3.07515871e+00] [ 5.25640286e-03 -2.78672329e-04 9.99986146e-01 -5.98420265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222414037 meters 0.08211120121086549 Centerline is valid? [True, True] Translation: X:46.58, Y:-3.10, Z:-0.60 [[ 9.99288043e-01 3.71065457e-02 -6.81987785e-03 4.65752308e+01] [-3.71026991e-02 9.99311220e-01 6.89729311e-04 -3.09672730e+00] [ 6.84077392e-03 -4.36202378e-04 9.99976506e-01 -6.02557401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282414037 meters 0.08262804487028014 Centerline is valid? [True, True] Translation: X:46.63, Y:-3.11, Z:-0.60 [[ 9.99495603e-01 3.13868083e-02 -4.83826185e-03 4.66347503e+01] [-3.13848068e-02 9.99507256e-01 4.89066922e-04 -3.10771325e+00] [ 4.85122808e-03 -3.36972324e-04 9.99988176e-01 -6.02554808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342414037 meters 0.08503617307917201 Centerline is valid? [True, True] Translation: X:46.69, Y:-3.12, Z:-0.60 [[ 9.99668849e-01 2.54847903e-02 -3.56611177e-03 4.66930499e+01] [-2.54836664e-02 9.99675174e-01 3.60253619e-04 -3.12266276e+00] [ 3.57413439e-03 -2.69256718e-04 9.99993577e-01 -6.04351040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402414037 meters 0.08506574283621951 Centerline is valid? [True, True] Translation: X:46.75, Y:-3.13, Z:-0.60 [[ 9.99807501e-01 1.94095699e-02 -2.86878080e-03 4.67530102e+01] [-1.94088168e-02 9.99811589e-01 2.90111624e-04 -3.13269122e+00] [ 2.87387123e-03 -2.34376137e-04 9.99995843e-01 -6.04016112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462414037 meters 0.08799012022337172 Centerline is valid? [True, True] Translation: X:46.81, Y:-3.15, Z:-0.61 [[ 9.99874657e-01 1.56425567e-02 -2.44541551e-03 4.68110258e+01] [-1.56419998e-02 9.99877626e-01 2.46671623e-04 -3.14787857e+00] [ 2.44897483e-03 -2.08389515e-04 9.99996980e-01 -6.06795277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522414037 meters 0.09037027571483333 Centerline is valid? [True, True] Translation: X:46.87, Y:-3.16, Z:-0.61 [[ 9.99920361e-01 1.16090684e-02 -4.94988291e-03 4.68704478e+01] [-1.16067321e-02 9.99932514e-01 5.00451370e-04 -3.16085658e+00] [ 4.95535864e-03 -4.42959549e-04 9.99987624e-01 -6.10648968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582414037 meters 0.08978207646715115 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.17, Z:-0.61 [[ 9.99936584e-01 1.01601128e-02 -4.85796215e-03 4.69299820e+01] [-1.01578516e-02 9.99948288e-01 4.89901129e-04 -3.16559181e+00] [ 4.86268838e-03 -4.40523603e-04 9.99988080e-01 -6.11974083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642414037 meters 0.09217605183677932 Centerline is valid? [True, True] Translation: X:46.99, Y:-3.17, Z:-0.62 [[ 9.99938911e-01 9.64823497e-03 -5.39314831e-03 4.69868607e+01] [-9.64545081e-03 9.99953335e-01 5.42013404e-04 -3.17477788e+00] [ 5.39812611e-03 -4.89960946e-04 9.99985310e-01 -6.16144088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702414037 meters 0.09034216764356168 Centerline is valid? [True, True] Translation: X:47.05, Y:-3.18, Z:-0.62 [[ 9.99940206e-01 9.66317236e-03 -5.11925256e-03 4.70458412e+01] [-9.66066402e-03 9.99953202e-01 5.14484128e-04 -3.17768891e+00] [ 5.12398454e-03 -4.64997986e-04 9.99986764e-01 -6.16754463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762414037 meters 0.0876164610732801 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.18, Z:-0.62 [[ 9.99932207e-01 9.77633342e-03 -6.32487177e-03 4.71046657e+01] [-9.77250694e-03 9.99952046e-01 6.35612326e-04 -3.17718736e+00] [ 6.33078243e-03 -5.73759383e-04 9.99979796e-01 -6.16146571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822414037 meters 0.08938149021811778 Centerline is valid? [True, True] Translation: X:47.16, Y:-3.18, Z:-0.62 [[ 9.99918674e-01 1.13703030e-02 -5.77601042e-03 4.71628250e+01] [-1.13671378e-02 9.99935223e-01 5.80521529e-04 -3.18317868e+00] [ 5.78223698e-03 -5.14817611e-04 9.99983150e-01 -6.19218521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882414037 meters 0.08751229572754289 Centerline is valid? [True, True] Translation: X:47.22, Y:-3.18, Z:-0.62 [[ 9.99886089e-01 1.42776482e-02 -4.89465339e-03 4.72233654e+01] [-1.42754037e-02 9.99897980e-01 4.93176857e-04 -3.18401007e+00] [ 4.90119545e-03 -4.23247525e-04 9.99987899e-01 -6.19345135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942414037 meters 0.09053587326049926 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.19, Z:-0.63 [[ 9.99865666e-01 1.53577552e-02 -5.72622479e-03 4.72806496e+01] [-1.53547145e-02 9.99881944e-01 5.74605709e-04 -3.19482800e+00] [ 5.73437343e-03 -4.86603973e-04 9.99983440e-01 -6.25336651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002414037 meters 0.08906193699709927 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.19, Z:-0.63 [[ 9.99860120e-01 1.52010183e-02 -6.97634945e-03 4.73403297e+01] [-1.51965012e-02 9.99884281e-01 7.00042229e-04 -3.19258564e+00] [ 6.98618352e-03 -5.93928205e-04 9.99975420e-01 -6.25504986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062414036999996 meters 0.09014857488961812 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.20, Z:-0.63 [[ 9.99884905e-01 1.33807663e-02 -7.15061899e-03 4.74001489e+01] [-1.33759640e-02 9.99910279e-01 7.18994230e-04 -3.19872292e+00] [ 7.15959813e-03 -6.23265055e-04 9.99974176e-01 -6.27439541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122414037 meters 0.08846189227461704 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.20, Z:-0.62 [[ 9.99950733e-01 8.42805374e-03 -5.24401474e-03 4.74605983e+01] [-8.42540457e-03 9.99964367e-01 5.27066506e-04 -3.20054438e+00] [ 5.24827002e-03 -4.82857593e-04 9.99986111e-01 -6.24938601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182414037 meters 0.09125292606405293 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.21, Z:-0.63 [[ 9.99961667e-01 6.64660638e-03 -5.69970728e-03 4.75193855e+01] [-6.64344679e-03 9.99977768e-01 5.73097018e-04 -3.20701320e+00] [ 5.70338971e-03 -5.35209348e-04 9.99983592e-01 -6.28162861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242414036999996 meters 0.08967859541928638 Centerline is valid? [True, True] Translation: X:47.58, Y:-3.20, Z:-0.63 [[ 9.99945791e-01 6.11568437e-03 -8.42692929e-03 4.75791363e+01] [-6.10877287e-03 9.99980984e-01 8.45663754e-04 -3.20427882e+00] [ 8.43194085e-03 -7.94139715e-04 9.99964135e-01 -6.30442273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302414037 meters 0.0948878556366219 Centerline is valid? [True, True] Translation: X:47.64, Y:-3.22, Z:-0.64 [[ 9.99970398e-01 4.58162583e-03 -6.18165129e-03 4.76358304e+01] [-4.57789385e-03 9.99989331e-01 6.17734066e-04 -3.21758919e+00] [ 6.18441556e-03 -5.89416836e-04 9.99980703e-01 -6.35202883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362414037 meters 0.09127559970357359 Centerline is valid? [True, True] Translation: X:47.70, Y:-3.21, Z:-0.63 [[ 9.99976614e-01 3.98878119e-03 -5.55533934e-03 4.76950824e+01] [-3.98575627e-03 9.99991903e-01 5.55471351e-04 -3.21302308e+00] [ 5.55751001e-03 -5.33316132e-04 9.99984415e-01 -6.32747378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422414036999996 meters 0.0951950727602486 Centerline is valid? [True, True] Translation: X:47.75, Y:-3.22, Z:-0.63 [[ 9.99984893e-01 2.69041281e-03 -4.79319624e-03 4.77534373e+01] [-2.68814748e-03 9.99996272e-01 4.78993752e-04 -3.21945057e+00] [ 4.79446707e-03 -4.66101697e-04 9.99988398e-01 -6.34561273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482414037 meters 0.0922459121505176 Centerline is valid? [True, True] Translation: X:47.81, Y:-3.22, Z:-0.63 [[ 9.99980832e-01 -9.98387651e-04 -6.11055932e-03 4.78142933e+01] [ 1.00214884e-03 9.99999310e-01 6.12491503e-04 -3.21648184e+00] [ 6.10994360e-03 -6.18603453e-04 9.99981143e-01 -6.34784375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542414037 meters 0.09507948638498516 Centerline is valid? [True, True] Translation: X:47.87, Y:-3.22, Z:-0.64 [[ 9.99965021e-01 -2.84622297e-03 -7.86485762e-03 4.78735449e+01] [ 2.85251240e-03 9.99995621e-01 7.88585210e-04 -3.22465185e+00] [ 7.86257869e-03 -8.10992230e-04 9.99968761e-01 -6.39191096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602414037 meters 0.09796431185224666 Centerline is valid? [True, True] Translation: X:47.93, Y:-3.23, Z:-0.64 [[ 9.99970245e-01 -3.72833573e-03 -6.75337148e-03 4.79311949e+01] [ 3.73296206e-03 9.99992806e-01 6.72564424e-04 -3.22882016e+00] [ 6.75081535e-03 -6.97754491e-04 9.99976970e-01 -6.42430522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662414037 meters 0.09927939384918874 Centerline is valid? [True, True] Translation: X:47.99, Y:-3.23, Z:-0.64 [[ 9.99978004e-01 -3.90515268e-03 -5.36104518e-03 4.79894964e+01] [ 3.90804231e-03 9.99992224e-01 5.28634093e-04 -3.23320761e+00] [ 5.35893910e-03 -5.49573657e-04 9.99985490e-01 -6.44620765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722414037 meters 0.0930201667343895 Centerline is valid? [True, True] Translation: X:48.05, Y:-3.22, Z:-0.64 [[ 9.99985741e-01 -4.92110956e-03 -2.07372625e-03 4.80512424e+01] [ 4.92154736e-03 9.99987868e-01 2.06066198e-04 -3.22082269e+00] [ 2.07268702e-03 -2.16269202e-04 9.99997829e-01 -6.40260736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782414037 meters 0.09739509294027748 Centerline is valid? [True, True] Translation: X:48.11, Y:-3.23, Z:-0.64 [[ 9.99981248e-01 -5.90562241e-03 -1.62099558e-03 4.81109738e+01] [ 5.90589345e-03 9.99982547e-01 1.62472101e-04 -3.23065952e+00] [ 1.62000779e-03 -1.72042481e-04 9.99998673e-01 -6.43982969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842414037 meters 0.09657437172465402 Centerline is valid? [True, True] Translation: X:48.17, Y:-3.23, Z:-0.65 [[ 9.99977966e-01 -6.13409188e-03 -2.53772714e-03 4.81726674e+01] [ 6.13475767e-03 9.99981150e-01 2.54655823e-04 -3.22878671e+00] [ 2.53611722e-03 -2.70218553e-04 9.99996748e-01 -6.46464547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902414037 meters 0.09635171942826788 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.23, Z:-0.65 [[ 9.99985955e-01 -4.87326580e-03 -2.08366935e-03 4.82330847e+01] [ 4.87371017e-03 9.99988102e-01 2.08240622e-04 -3.23013937e+00] [ 2.08262974e-03 -2.18392898e-04 9.99997807e-01 -6.49153085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962414037 meters 0.09602349063931037 Centerline is valid? [True, True] Translation: X:48.29, Y:-3.23, Z:-0.65 [[ 9.99999497e-01 4.07417446e-04 -9.16297434e-04 4.82927741e+01] [-4.07334202e-04 9.99999913e-01 9.10333590e-05 -3.22730835e+00] [ 9.16334443e-04 -9.06600739e-05 9.99999576e-01 -6.52737443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022414037 meters 0.0938470076507685 Centerline is valid? [True, True] Translation: X:48.35, Y:-3.22, Z:-0.65 [[ 9.99987732e-01 4.95103093e-03 1.50200084e-04 4.83543017e+01] [-4.95102873e-03 9.99987743e-01 -1.50464526e-05 -3.22334228e+00] [-1.50272738e-04 1.43026231e-05 9.99999989e-01 -6.53839876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082414037 meters 0.09165450427065618 Centerline is valid? [True, True] Translation: X:48.42, Y:-3.22, Z:-0.65 [[ 9.99928036e-01 1.18232819e-02 2.03303472e-03 4.84152705e+01] [-1.18228925e-02 9.99930086e-01 -2.03455613e-04 -3.21670044e+00] [-2.03529809e-03 1.79404621e-04 9.99997913e-01 -6.54598041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142414037 meters 0.08820200378994733 Centerline is valid? [True, True] Translation: X:48.48, Y:-3.21, Z:-0.65 [[ 9.99847399e-01 1.72725226e-02 2.61501273e-03 4.84768796e+01] [-1.72718974e-02 9.99850795e-01 -2.61456526e-04 -3.20690326e+00] [-2.61913857e-03 2.16250396e-04 9.99996547e-01 -6.53596886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202414037 meters 0.08860534064998314 Centerline is valid? [True, True] Translation: X:48.54, Y:-3.21, Z:-0.66 [[ 9.99821031e-01 1.88679386e-02 1.38055580e-03 4.85356807e+01] [-1.88677633e-02 9.99821978e-01 -1.39855380e-04 -3.21116183e+00] [-1.38294882e-03 1.13782350e-04 9.99999037e-01 -6.57686629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262414037 meters 0.08795900869127728 Centerline is valid? [True, True] Translation: X:48.60, Y:-3.21, Z:-0.66 [[ 9.99777767e-01 2.10205737e-02 1.59767551e-03 4.85958375e+01] [-2.10203447e-02 9.99779035e-01 -1.59982903e-04 -3.20977140e+00] [-1.60068541e-03 1.26363660e-04 9.99998711e-01 -6.60864994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322414037 meters 0.08670985728094821 Centerline is valid? [True, True] Translation: X:48.66, Y:-3.21, Z:-0.66 [[ 9.99754628e-01 2.21302743e-02 9.66613592e-04 4.86555466e+01] [-2.21301894e-02 9.99755093e-01 -9.84747636e-05 -3.20649441e+00] [-9.68556135e-04 7.70592588e-05 9.99999528e-01 -6.61700929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382414037 meters 0.08603889279074972 Centerline is valid? [True, True] Translation: X:48.72, Y:-3.21, Z:-0.66 [[ 9.99695527e-01 2.44041266e-02 3.64572332e-03 4.87158016e+01] [-2.44029611e-02 9.99702137e-01 -3.63859994e-04 -3.20787722e+00] [-3.65351708e-03 2.74782764e-04 9.99993288e-01 -6.63473968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442414037 meters 0.08607459506971396 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.21, Z:-0.66 [[ 9.99681257e-01 2.48197811e-02 4.62192567e-03 4.87749403e+01] [-2.48179000e-02 9.99691881e-01 -4.63909073e-04 -3.21267482e+00] [-4.63201569e-03 3.49054716e-04 9.99989211e-01 -6.64822810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502414037 meters 0.08542516304115572 Centerline is valid? [True, True] Translation: X:48.84, Y:-3.21, Z:-0.66 [[ 9.99629060e-01 2.69345838e-02 4.03365585e-03 4.88356541e+01] [-2.69331786e-02 9.99637155e-01 -4.02291823e-04 -3.21025268e+00] [-4.04302783e-03 2.93503423e-04 9.99991784e-01 -6.64630512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562414036999996 meters 0.08519669310018593 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.21, Z:-0.67 [[ 9.99619623e-01 2.72489548e-02 4.25490175e-03 4.88942302e+01] [-2.72473889e-02 9.99628630e-01 -4.25576030e-04 -3.21328035e+00] [-4.26491811e-03 3.09479188e-04 9.99990857e-01 -6.65650263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622414037 meters 0.0868589798840286 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.22, Z:-0.67 [[ 9.99610164e-01 2.74839514e-02 4.91452346e-03 4.89515340e+01] [-2.74818664e-02 9.99622181e-01 -4.91294631e-04 -3.22295666e+00] [-4.92616938e-03 3.56042829e-04 9.99987803e-01 -6.70125061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682414037 meters 0.0856198405284945 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.22, Z:-0.67 [[ 9.99646734e-01 2.58547904e-02 6.15936283e-03 4.90118035e+01] [-2.58514991e-02 9.99665606e-01 -6.13388099e-04 -3.22340106e+00] [-6.17316220e-03 4.53942647e-04 9.99980843e-01 -6.70004685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742414036999996 meters 0.08704278370083376 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.23, Z:-0.67 [[ 9.99716650e-01 2.30149303e-02 6.07716306e-03 4.90717213e+01] [-2.30116777e-02 9.99735013e-01 -6.04595625e-04 -3.22811331e+00] [-6.08946742e-03 4.64578595e-04 9.99981351e-01 -6.71786451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802414037 meters 0.08889086027698934 Centerline is valid? [True, True] Translation: X:49.13, Y:-3.24, Z:-0.67 [[ 9.99787939e-01 1.92334183e-02 7.35880234e-03 4.91308943e+01] [-1.92285512e-02 9.99814847e-01 -7.31591682e-04 -3.23905862e+00] [-7.37151084e-03 5.89937433e-04 9.99972656e-01 -6.74225321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862414037 meters 0.09148968364077086 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.25, Z:-0.68 [[ 9.99885207e-01 1.38343048e-02 6.17939971e-03 4.91903651e+01] [-1.38307697e-02 9.99904162e-01 -6.14440150e-04 -3.25149838e+00] [-6.18730784e-03 5.28903762e-04 9.99980719e-01 -6.78740348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922414036999996 meters 0.09314683433087756 Centerline is valid? [True, True] Translation: X:49.25, Y:-3.26, Z:-0.68 [[ 9.99924426e-01 1.14334317e-02 4.51865692e-03 4.92507848e+01] [-1.14315176e-02 9.99934557e-01 -4.49201460e-04 -3.25786627e+00] [-4.52349712e-03 3.97512406e-04 9.99989690e-01 -6.80915613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982414037 meters 0.09243901689743532 Centerline is valid? [True, True] Translation: X:49.31, Y:-3.26, Z:-0.68 [[ 9.99948218e-01 9.71037065e-03 3.04472474e-03 4.93109655e+01] [-9.70949253e-03 9.99952816e-01 -3.03055363e-04 -3.26171769e+00] [-3.04752386e-03 2.73476938e-04 9.99995319e-01 -6.83273922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042414037 meters 0.096279675874582 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.28, Z:-0.69 [[ 9.99942139e-01 9.64202717e-03 4.76974732e-03 4.93680495e+01] [-9.63986720e-03 9.99953422e-01 -4.75632626e-04 -3.27637528e+00] [-4.77411122e-03 4.29625374e-04 9.99988512e-01 -6.87970236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102414037 meters 0.09119296226669955 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.27, Z:-0.68 [[ 9.99922960e-01 1.06736830e-02 6.33617775e-03 4.94288880e+01] [-1.06699035e-02 9.99942876e-01 -6.30001448e-04 -3.26977876e+00] [-6.34254024e-03 5.62346508e-04 9.99979728e-01 -6.84595147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162414037 meters 0.09119585971969192 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.27, Z:-0.69 [[ 9.99864421e-01 1.44575068e-02 7.88163019e-03 4.94879854e+01] [-1.44517819e-02 9.99895261e-01 -7.82826274e-04 -3.27303593e+00] [-7.89212239e-03 6.68816538e-04 9.99968633e-01 -6.85264436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222414037 meters 0.09050887928937286 Centerline is valid? [True, True] Translation: X:49.55, Y:-3.28, Z:-0.69 [[ 9.99860008e-01 1.56421210e-02 5.94041864e-03 4.95465130e+01] [-1.56388827e-02 9.99877530e-01 -5.91190314e-04 -3.27780569e+00] [-5.94893859e-03 4.98206042e-04 9.99982181e-01 -6.88827476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282414037 meters 0.08878773513978251 Centerline is valid? [True, True] Translation: X:49.61, Y:-3.28, Z:-0.69 [[ 9.99845879e-01 1.72414599e-02 3.30901703e-03 4.96052661e+01] [-1.72404614e-02 9.99851318e-01 -3.30014818e-04 -3.27858835e+00] [-3.31421498e-03 2.72914975e-04 9.99994471e-01 -6.91876966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342414037 meters 0.08783598323555668 Centerline is valid? [True, True] Translation: X:49.67, Y:-3.28, Z:-0.69 [[ 9.99751164e-01 2.21787454e-02 2.39013690e-03 4.96654170e+01] [-2.21782403e-02 9.99754004e-01 -2.37646751e-04 -3.27923464e+00] [-2.39481964e-03 1.84578586e-04 9.99997115e-01 -6.93900631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402414037 meters 0.09055966825778584 Centerline is valid? [True, True] Translation: X:49.72, Y:-3.29, Z:-0.70 [[ 9.99640873e-01 2.67156559e-02 2.09739511e-03 4.97238486e+01] [-2.67152769e-02 9.99643062e-01 -2.08515992e-04 -3.29012054e+00] [-2.10221711e-03 1.52408617e-04 9.99997779e-01 -6.99452354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462414037 meters 0.08606307163132271 Centerline is valid? [True, True] Translation: X:49.79, Y:-3.29, Z:-0.70 [[ 9.99471489e-01 3.21845734e-02 4.57121431e-03 4.97852433e+01] [-3.21828374e-02 9.99481896e-01 -4.52831630e-04 -3.28542746e+00] [-4.58342014e-03 3.05477656e-04 9.99989449e-01 -6.97525615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522414037 meters 0.08623813548467159 Centerline is valid? [True, True] Translation: X:49.84, Y:-3.29, Z:-0.70 [[ 9.99367537e-01 3.48657293e-02 6.99329213e-03 4.98438923e+01] [-3.48617259e-02 9.99391905e-01 -6.93583358e-04 -3.29088377e+00] [-7.01322183e-03 4.49346459e-04 9.99975306e-01 -6.97419730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582414037 meters 0.08522461350348352 Centerline is valid? [True, True] Translation: X:49.90, Y:-3.29, Z:-0.70 [[ 9.99299160e-01 3.68748695e-02 6.43683638e-03 4.99036147e+01] [-3.68715209e-02 9.99319811e-01 -6.38158395e-04 -3.29413320e+00] [-6.45599012e-03 4.00375201e-04 9.99979080e-01 -6.99050995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642414037 meters 0.08630225610243593 Centerline is valid? [True, True] Translation: X:49.96, Y:-3.30, Z:-0.71 [[ 9.99354438e-01 3.57965603e-02 3.05171871e-03 4.99631369e+01] [-3.57958027e-02 9.99359079e-01 -3.02524802e-04 -3.30331276e+00] [-3.06059215e-03 1.93090782e-04 9.99995298e-01 -7.05363642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702414037 meters 0.08691019988431026 Centerline is valid? [True, True] Translation: X:50.02, Y:-3.31, Z:-0.71 [[ 9.99361959e-01 3.56541817e-02 2.11030589e-03 5.00212584e+01] [-3.56538160e-02 9.99364178e-01 -2.10637082e-04 -3.31081218e+00] [-2.11647421e-03 1.35262229e-04 9.99997751e-01 -7.09437049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762414037 meters 0.08315593133553738 Centerline is valid? [True, True] Translation: X:50.08, Y:-3.31, Z:-0.71 [[ 9.99330428e-01 3.64143777e-02 3.56213100e-03 5.00810415e+01] [-3.64133458e-02 9.99336751e-01 -3.54132062e-04 -3.30779304e+00] [-3.57266392e-03 2.24185838e-04 9.99993593e-01 -7.06183323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822414037 meters 0.08277898351357502 Centerline is valid? [True, True] Translation: X:50.14, Y:-3.31, Z:-0.71 [[ 9.99324118e-01 3.63645859e-02 5.37802452e-03 5.01394858e+01] [-3.63622406e-02 9.99338533e-01 -5.33261773e-04 -3.31377739e+00] [-5.39385898e-03 3.37344329e-04 9.99985396e-01 -7.05067684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882414037 meters 0.08721625744496798 Centerline is valid? [True, True] Translation: X:50.20, Y:-3.33, Z:-0.71 [[ 9.99399596e-01 3.40755113e-02 6.26949954e-03 5.01965173e+01] [-3.40722866e-02 9.99419178e-01 -6.20464490e-04 -3.33374745e+00] [-6.28700073e-03 4.06475775e-04 9.99980154e-01 -7.11356371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942414037 meters 0.08422136653099639 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.33, Z:-0.71 [[ 9.99522716e-01 3.05650961e-02 4.48494017e-03 5.02571026e+01] [-3.05634154e-02 9.99532732e-01 -4.42817277e-04 -3.33374255e+00] [-4.49637925e-03 3.05530838e-04 9.99989845e-01 -7.10133904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002414037 meters 0.08580471535755006 Centerline is valid? [True, True] Translation: X:50.31, Y:-3.35, Z:-0.71 [[ 9.99586377e-01 2.84620761e-02 4.12134691e-03 5.03148593e+01] [-2.84606339e-02 9.99594831e-01 -4.08176043e-04 -3.34544688e+00] [-4.13129460e-03 2.90711066e-04 9.99991424e-01 -7.12328888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062414036999996 meters 0.08617780175760123 Centerline is valid? [True, True] Translation: X:50.37, Y:-3.35, Z:-0.71 [[ 9.99585302e-01 2.83790110e-02 4.88430460e-03 5.03728722e+01] [-2.83769850e-02 9.99597175e-01 -4.83613227e-04 -3.35284700e+00] [-4.89606154e-03 3.44810836e-04 9.99987955e-01 -7.13857490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122414037 meters 0.08595582625264282 Centerline is valid? [True, True] Translation: X:50.43, Y:-3.36, Z:-0.72 [[ 9.99590638e-01 2.83450836e-02 3.88752024e-03 5.04311801e+01] [-2.83437993e-02 9.99598160e-01 -3.85074984e-04 -3.35955173e+00] [-3.89687306e-03 2.74730255e-04 9.99992369e-01 -7.16714363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182414037 meters 0.08814660588450814 Centerline is valid? [True, True] Translation: X:50.49, Y:-3.37, Z:-0.72 [[ 9.99637846e-01 2.65984770e-02 4.08619584e-03 5.04884053e+01] [-2.65970452e-02 9.99646154e-01 -4.04354073e-04 -3.37307251e+00] [-4.09550516e-03 2.95526899e-04 9.99991570e-01 -7.20841386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242414036999996 meters 0.08709651540494386 Centerline is valid? [True, True] Translation: X:50.55, Y:-3.38, Z:-0.72 [[ 9.99691076e-01 2.41630338e-02 5.82240152e-03 5.05477190e+01] [-2.41600974e-02 9.99707937e-01 -5.74144714e-04 -3.37986946e+00] [-5.83457409e-03 4.33297559e-04 9.99982885e-01 -7.18629377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302414037 meters 0.08958809916902592 Centerline is valid? [True, True] Translation: X:50.61, Y:-3.39, Z:-0.72 [[ 9.99767787e-01 2.11244578e-02 4.25795890e-03 5.06059039e+01] [-2.11228633e-02 9.99776800e-01 -4.19105306e-04 -3.39333045e+00] [-4.26586189e-03 3.29067701e-04 9.99990847e-01 -7.22122836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362414037 meters 0.0898699451152127 Centerline is valid? [True, True] Translation: X:50.67, Y:-3.40, Z:-0.72 [[ 9.99820895e-01 1.86242032e-02 3.36394648e-03 5.06651265e+01] [-1.86231923e-02 9.99826518e-01 -3.31580715e-04 -3.40230801e+00] [-3.36953833e-03 2.68873905e-04 9.99994287e-01 -7.24714414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422414036999996 meters 0.09028812879321134 Centerline is valid? [True, True] Translation: X:50.72, Y:-3.41, Z:-0.73 [[ 9.99897511e-01 1.42217247e-02 1.64612959e-03 5.07246490e+01] [-1.42214764e-02 9.99898856e-01 -1.62451888e-04 -3.41098570e+00] [-1.64827344e-03 1.39024845e-04 9.99998632e-01 -7.28339134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482414037 meters 0.09166050905752086 Centerline is valid? [True, True] Translation: X:50.78, Y:-3.42, Z:-0.73 [[ 9.99916096e-01 1.28489603e-02 1.64487418e-03 5.07838452e+01] [-1.28487097e-02 9.99917439e-01 -1.62813485e-04 -3.42003184e+00] [-1.64683036e-03 1.41665314e-04 9.99998634e-01 -7.30760642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542414037 meters 0.09120590823107497 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.43, Z:-0.73 [[ 9.99951437e-01 9.26078048e-03 3.37077630e-03 5.08443696e+01] [-9.25971448e-03 9.99957073e-01 -3.31717054e-04 -3.42557469e+00] [-3.37370356e-03 3.00488518e-04 9.99994264e-01 -7.30913376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602414037 meters 0.09007853002751856 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.43, Z:-0.73 [[ 9.99956260e-01 8.52054605e-03 3.85725236e-03 5.09032626e+01] [-8.51913828e-03 9.99963639e-01 -3.81249479e-04 -3.42897144e+00] [-3.86036055e-03 3.48372337e-04 9.99992488e-01 -7.31234137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662414037 meters 0.0933389849636777 Centerline is valid? [True, True] Translation: X:50.96, Y:-3.44, Z:-0.74 [[ 9.99967874e-01 7.02250772e-03 3.86451813e-03 5.09620794e+01] [-7.02108992e-03 9.99975280e-01 -3.80321401e-04 -3.44007755e+00] [-3.86709340e-03 3.53176054e-04 9.99992460e-01 -7.35066822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722414037 meters 0.09088460003852308 Centerline is valid? [True, True] Translation: X:51.02, Y:-3.44, Z:-0.74 [[ 9.99978831e-01 5.51299594e-03 3.45608944e-03 5.10227403e+01] [-5.51185465e-03 9.99984752e-01 -3.39665205e-04 -3.44091894e+00] [-3.45790931e-03 3.20608552e-04 9.99993970e-01 -7.35270219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782414037 meters 0.09351676159624044 Centerline is valid? [True, True] Translation: X:51.08, Y:-3.45, Z:-0.74 [[ 9.99984866e-01 4.52107756e-03 3.13489753e-03 5.10820590e+01] [-4.52013371e-03 9.99989737e-01 -3.08098396e-04 -3.44905914e+00] [-3.13625829e-03 2.93923577e-04 9.99995039e-01 -7.38762351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842414037 meters 0.0927624786537703 Centerline is valid? [True, True] Translation: X:51.14, Y:-3.45, Z:-0.74 [[ 9.99979325e-01 4.80165826e-03 4.27711014e-03 5.11425045e+01] [-4.79990385e-03 9.99988392e-01 -4.20355294e-04 -3.45214551e+00] [-4.27907890e-03 3.99816886e-04 9.99990765e-01 -7.39662672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902414037 meters 0.09358887430316364 Centerline is valid? [True, True] Translation: X:51.20, Y:-3.46, Z:-0.74 [[ 9.99975791e-01 4.13230571e-03 5.59830063e-03 5.12030984e+01] [-4.12928962e-03 9.99991323e-01 -5.50202177e-04 -3.45868196e+00] [-5.60052566e-03 5.27071852e-04 9.99984178e-01 -7.40272503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962414037 meters 0.09449234659721904 Centerline is valid? [True, True] Translation: X:51.26, Y:-3.46, Z:-0.74 [[ 9.99991437e-01 2.61694960e-03 3.20598153e-03 5.12638533e+01] [-2.61595422e-03 9.99996529e-01 -3.14631010e-04 -3.46448362e+00] [-3.20679377e-03 3.06241615e-04 9.99994811e-01 -7.43730515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022414037 meters 0.09520968808533617 Centerline is valid? [True, True] Translation: X:51.32, Y:-3.47, Z:-0.75 [[ 9.99998795e-01 1.51221129e-03 3.50020544e-04 5.13240252e+01] [-1.51219951e-03 9.99998856e-01 -3.39049640e-05 -3.47046073e+00] [-3.50071415e-04 3.33756222e-05 9.99999938e-01 -7.47444624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082414037 meters 0.09609979560909604 Centerline is valid? [True, True] Translation: X:51.38, Y:-3.48, Z:-0.75 [[ 9.99998717e-01 1.58074358e-03 -2.61098952e-04 5.13843285e+01] [-1.58073693e-03 9.99998750e-01 2.56697423e-05 -3.47580640e+00] [ 2.61139203e-04 -2.52569806e-05 9.99999966e-01 -7.51590427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142414037 meters 0.09669828240145609 Centerline is valid? [True, True] Translation: X:51.44, Y:-3.48, Z:-0.75 [[ 9.99994092e-01 2.50147376e-03 2.35776972e-03 5.14436458e+01] [-2.50093195e-03 9.99996846e-01 -2.32718645e-04 -3.48064789e+00] [-2.35834442e-03 2.26820649e-04 9.99997193e-01 -7.52711594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202414037 meters 0.09541335334797744 Centerline is valid? [True, True] Translation: X:51.50, Y:-3.48, Z:-0.75 [[ 9.99988628e-01 3.16331516e-03 3.56904346e-03 5.15043702e+01] [-3.16208320e-03 9.99994939e-01 -3.50768770e-04 -3.47931575e+00] [-3.57013499e-03 3.39479169e-04 9.99993569e-01 -7.51110208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262414037 meters 0.09598545824481206 Centerline is valid? [True, True] Translation: X:51.57, Y:-3.48, Z:-0.75 [[ 9.99984301e-01 3.09336649e-03 4.67220649e-03 5.15652500e+01] [-3.09125843e-03 9.99995117e-01 -4.58345404e-04 -3.48463407e+00] [-4.67360151e-03 4.43895211e-04 9.99988980e-01 -7.51487912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322414037 meters 0.09905796609396711 Centerline is valid? [True, True] Translation: X:51.62, Y:-3.50, Z:-0.76 [[ 9.99996461e-01 2.58073697e-03 6.46012016e-04 5.16245696e+01] [-2.58069679e-03 9.99996668e-01 -6.30296635e-05 -3.49512823e+00] [-6.46172526e-04 6.13622793e-05 9.99999789e-01 -7.58453125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382414037 meters 0.09835056636179754 Centerline is valid? [True, True] Translation: X:51.68, Y:-3.50, Z:-0.76 [[ 9.99991609e-01 3.80287021e-03 1.52289027e-03 5.16841918e+01] [-3.80264512e-03 9.99992759e-01 -1.50670475e-04 -3.49753979e+00] [-1.52345222e-03 1.44878200e-04 9.99998829e-01 -7.60130450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442414037 meters 0.09988040658234827 Centerline is valid? [True, True] Translation: X:51.74, Y:-3.50, Z:-0.76 [[ 9.99977010e-01 6.06329306e-03 3.03592170e-03 5.17432299e+01] [-6.06241318e-03 9.99981579e-01 -2.98939307e-04 -3.50364024e+00] [-3.03767833e-03 2.80527422e-04 9.99995347e-01 -7.62164115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502414037 meters 0.09769539126348394 Centerline is valid? [True, True] Translation: X:51.80, Y:-3.50, Z:-0.76 [[ 9.99949583e-01 9.55885272e-03 3.07571110e-03 5.18036820e+01] [-9.55796716e-03 9.99954276e-01 -3.02490909e-04 -3.50428221e+00] [-3.07846194e-03 2.73078112e-04 9.99995224e-01 -7.63106348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562414036999996 meters 0.09779036020903802 Centerline is valid? [True, True] Translation: X:51.86, Y:-3.51, Z:-0.77 [[ 9.99931365e-01 1.15676943e-02 1.85817982e-03 5.18634817e+01] [-1.15673740e-02 9.99933079e-01 -1.83046297e-04 -3.50861952e+00] [-1.86017289e-03 1.61539473e-04 9.99998257e-01 -7.66378363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622414037 meters 0.10054901283092478 Centerline is valid? [True, False] Translation: X:51.86, Y:-3.51, Z:-0.77 [[ 9.99931908e-01 1.15838270e-02 1.41215580e-03 5.18645451e+01] [-1.15827729e-02 9.99932634e-01 -7.52400244e-04 -3.50624386e+00] [-1.42077634e-03 7.35992332e-04 9.99998720e-01 -7.66612931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682414037 meters 0.10015966235042809 Centerline is valid? [False, False] Translation: X:51.87, Y:-3.50, Z:-0.77 [[ 9.99935747e-01 1.12834033e-02 1.08960681e-03 5.18650022e+01] [-1.12816316e-02 9.99935050e-01 -1.61861569e-03 -3.50355385e+00] [-1.10779953e-03 1.60621915e-03 9.99998096e-01 -7.66324626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742414036999996 meters 0.0887362555017879 Centerline is valid? [False, True] Translation: X:51.88, Y:-3.50, Z:-0.76 [[ 9.99951294e-01 6.97263134e-03 -6.98508615e-03 5.18760115e+01] [-6.96535203e-03 9.99975174e-01 1.06590726e-03 -3.49897456e+00] [ 6.99234491e-03 -1.01720176e-03 9.99975036e-01 -7.61509848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802414037 meters 0.08752348663050415 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.50, Z:-0.76 [[ 9.99920828e-01 1.01805083e-02 -7.39555694e-03 5.19363970e+01] [-1.01760757e-02 9.99948020e-01 6.36744375e-04 -3.49948200e+00] [ 7.40165490e-03 -5.61436216e-04 9.99972450e-01 -7.62872236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862414037 meters 0.08921877733057632 Centerline is valid? [True, True] Translation: X:51.99, Y:-3.51, Z:-0.77 [[ 9.99902035e-01 1.13990621e-02 -8.12293321e-03 5.19934417e+01] [-1.13937791e-02 9.99934846e-01 6.96369994e-04 -3.50720719e+00] [ 8.13034194e-03 -6.03750868e-04 9.99966766e-01 -7.66470694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922414036999996 meters 0.0863848517641617 Centerline is valid? [True, True] Translation: X:52.05, Y:-3.50, Z:-0.77 [[ 9.99865775e-01 1.40606013e-02 -8.41017334e-03 5.20544500e+01] [-1.40550164e-02 9.99900962e-01 7.22801742e-04 -3.50225738e+00] [ 8.41950344e-03 -6.04499600e-04 9.99964373e-01 -7.66107847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982414037 meters 0.08609056093516924 Centerline is valid? [True, True] Translation: X:52.11, Y:-3.51, Z:-0.77 [[ 9.99839718e-01 1.65402441e-02 -6.85261315e-03 5.21149722e+01] [-1.65365934e-02 9.99863088e-01 5.89068350e-04 -3.50582208e+00] [ 6.86141828e-03 -4.75655056e-04 9.99976347e-01 -7.67127305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042414037 meters 0.08649695223601636 Centerline is valid? [True, True] Translation: X:52.17, Y:-3.51, Z:-0.77 [[ 9.99818190e-01 1.78187904e-02 -6.78801129e-03 5.21739344e+01] [-1.78152570e-02 9.99841127e-01 5.80653543e-04 -3.51297379e+00] [ 6.79727940e-03 -4.59617809e-04 9.99976793e-01 -7.69796678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102414037 meters 0.08501375039490172 Centerline is valid? [True, True] Translation: X:52.23, Y:-3.51, Z:-0.77 [[ 9.99802428e-01 1.83224100e-02 -7.70673198e-03 5.22329049e+01] [-1.83178654e-02 9.99831996e-01 6.59868938e-04 -3.51302985e+00] [ 7.71752761e-03 -5.18567688e-04 9.99970085e-01 -7.69272114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162414037 meters 0.08518308380709151 Centerline is valid? [True, True] Translation: X:52.29, Y:-3.52, Z:-0.77 [[ 9.99768129e-01 2.01115501e-02 -7.69499593e-03 5.22912374e+01] [-2.01070723e-02 9.99797615e-01 6.58843602e-04 -3.51663774e+00] [ 7.70668895e-03 -5.03966997e-04 9.99970176e-01 -7.70709831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222414037 meters 0.08478358275255318 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.52, Z:-0.77 [[ 9.99735161e-01 2.19601595e-02 -6.88186223e-03 5.23511910e+01] [-2.19566184e-02 9.99758750e-01 5.89691322e-04 -3.52206615e+00] [ 6.89315170e-03 -4.38432726e-04 9.99976146e-01 -7.71570835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282414037 meters 0.08301794379269174 Centerline is valid? [True, True] Translation: X:52.41, Y:-3.52, Z:-0.77 [[ 9.99677224e-01 2.49157117e-02 -4.96543576e-03 5.24122168e+01] [-2.49139038e-02 9.99689510e-01 4.25624392e-04 -3.52319964e+00] [ 4.97449878e-03 -3.01778621e-04 9.99987582e-01 -7.69564162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342414037 meters 0.08317758808879631 Centerline is valid? [True, True] Translation: X:52.47, Y:-3.53, Z:-0.77 [[ 9.99610160e-01 2.73140779e-02 -5.78517303e-03 5.24708983e+01] [-2.73116684e-02 9.99626844e-01 4.95110568e-04 -3.52878703e+00] [ 5.79653774e-03 -3.36914827e-04 9.99983143e-01 -7.71376898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402414037 meters 0.08336591884784472 Centerline is valid? [True, True] Translation: X:52.53, Y:-3.53, Z:-0.77 [[ 9.99570055e-01 2.85242817e-02 -6.78750336e-03 5.25294401e+01] [-2.85209994e-02 9.99593025e-01 5.79902658e-04 -3.53446858e+00] [ 6.80128233e-03 -3.86066952e-04 9.99976796e-01 -7.74450269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462414037 meters 0.08258377767019687 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.54, Z:-0.78 [[ 9.99524525e-01 2.94347191e-02 -9.18269510e-03 5.25879011e+01] [-2.94287512e-02 9.99566573e-01 7.84382362e-04 -3.53770609e+00] [ 9.20180315e-03 -5.13774158e-04 9.99957531e-01 -7.77465352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522414037 meters 0.08112089569337143 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.54, Z:-0.78 [[ 9.99477058e-01 3.12254420e-02 -8.40137370e-03 5.26479918e+01] [-3.12205110e-02 9.99512264e-01 7.17468953e-04 -3.53849083e+00] [ 8.41967933e-03 -4.54798578e-04 9.99964450e-01 -7.75185253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582414037 meters 0.08126658137857093 Centerline is valid? [True, True] Translation: X:52.71, Y:-3.55, Z:-0.78 [[ 9.99412087e-01 3.37028204e-02 -6.29291934e-03 5.27060143e+01] [-3.37001066e-02 9.99431846e-01 5.36816407e-04 -3.54675186e+00] [ 6.30743621e-03 -3.24428753e-04 9.99980055e-01 -7.76879831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642414037 meters 0.08086604075750028 Centerline is valid? [True, True] Translation: X:52.77, Y:-3.55, Z:-0.78 [[ 9.99308710e-01 3.64175831e-02 -7.47409484e-03 5.27652159e+01] [-3.64138663e-02 9.99336595e-01 6.32820516e-04 -3.55157375e+00] [ 7.49218228e-03 -3.60222364e-04 9.99971868e-01 -7.78313106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702414037 meters 0.08102337146706877 Centerline is valid? [True, True] Translation: X:52.82, Y:-3.56, Z:-0.78 [[ 9.99236228e-01 3.84855059e-02 -6.76945462e-03 5.28237895e+01] [-3.84824832e-02 9.99259109e-01 5.76262552e-04 -3.55808453e+00] [ 6.78661695e-03 -3.15316995e-04 9.99976921e-01 -7.81073652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762414037 meters 0.08115725301507205 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.56, Z:-0.78 [[ 9.99192975e-01 3.94818448e-02 -7.38797656e-03 5.28826444e+01] [-3.94783091e-02 9.99220233e-01 6.23856662e-04 -3.56447480e+00] [ 7.40684667e-03 -3.31688372e-04 9.99972514e-01 -7.83515971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822414037 meters 0.08154293738697724 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.57, Z:-0.78 [[ 9.99245910e-01 3.79627312e-02 -8.15125222e-03 5.29415837e+01] [-3.79583458e-02 9.99279083e-01 6.92099316e-04 -3.57226928e+00] [ 8.17164982e-03 -3.82169360e-04 9.99966538e-01 -7.83673381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882414037 meters 0.08574083882670097 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.59, Z:-0.79 [[ 9.99466642e-01 3.16960508e-02 -7.86077487e-03 5.29988823e+01] [-3.16917681e-02 9.99497466e-01 6.68813866e-04 -3.59293971e+00] [ 7.87802332e-03 -4.19335295e-04 9.99968880e-01 -7.89184141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942414037 meters 0.08738789903599843 Centerline is valid? [True, True] Translation: X:53.06, Y:-3.60, Z:-0.79 [[ 9.99600750e-01 2.69159562e-02 -8.59487604e-03 5.30582962e+01] [-2.69106665e-02 9.99637576e-01 7.30527459e-04 -3.60408776e+00] [ 8.61142390e-03 -4.98941953e-04 9.99962797e-01 -7.91298394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002414037 meters 0.08355601721566705 Centerline is valid? [True, True] Translation: X:53.12, Y:-3.60, Z:-0.79 [[ 9.99746932e-01 2.06744515e-02 -8.86784299e-03 5.31194465e+01] [-2.06685744e-02 9.99786098e-01 7.53879925e-04 -3.60274268e+00] [ 8.88153219e-03 -5.70403469e-04 9.99960396e-01 -7.86640115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062414036999996 meters 0.08891350777641706 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.62, Z:-0.79 [[ 9.99828554e-01 1.65746137e-02 -8.25499079e-03 5.31773294e+01] [-1.65693869e-02 9.99862472e-01 7.01156308e-04 -3.62328174e+00] [ 8.26547690e-03 -5.64255961e-04 9.99965681e-01 -7.91251609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122414037 meters 0.08613413884395617 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.62, Z:-0.79 [[ 9.99881974e-01 1.40866302e-02 -6.13232477e-03 5.32367710e+01] [-1.40837057e-02 9.99900685e-01 5.19821033e-04 -3.62443733e+00] [ 6.13903826e-03 -4.33393823e-04 9.99981062e-01 -7.88435495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182414037 meters 0.09122397307998686 Centerline is valid? [True, True] Translation: X:53.29, Y:-3.64, Z:-0.79 [[ 9.99919924e-01 1.15298443e-02 -5.21609735e-03 5.32945458e+01] [-1.15276900e-02 9.99933456e-01 4.42887478e-04 -3.64363705e+00] [ 5.22085668e-03 -3.82722460e-04 9.99986298e-01 -7.91542837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242414036999996 meters 0.08881961847864227 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.64, Z:-0.79 [[ 9.99943715e-01 8.38797540e-03 -6.49683707e-03 5.33556413e+01] [-8.38456656e-03 9.99964697e-01 5.51753201e-04 -3.64409908e+00] [ 6.50123580e-03 -4.97248983e-04 9.99978743e-01 -7.91109647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302414037 meters 0.08729527819086413 Centerline is valid? [True, True] Translation: X:53.41, Y:-3.64, Z:-0.79 [[ 9.99930371e-01 8.57960890e-03 -8.10210755e-03 5.34142565e+01] [-8.57432919e-03 9.99963004e-01 6.86158974e-04 -3.64443143e+00] [ 8.10769478e-03 -6.16641060e-04 9.99966942e-01 -7.92020411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362414037 meters 0.08712940336656066 Centerline is valid? [True, True] Translation: X:53.47, Y:-3.65, Z:-0.79 [[ 9.99904373e-01 1.07199456e-02 -8.73655096e-03 5.34739377e+01] [-1.07138857e-02 9.99942331e-01 7.40127380e-04 -3.64827893e+00] [ 8.74398125e-03 -6.46454195e-04 9.99961562e-01 -7.94905297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422414036999996 meters 0.08686016055143711 Centerline is valid? [True, True] Translation: X:53.53, Y:-3.65, Z:-0.79 [[ 9.99902930e-01 1.22014144e-02 -6.72720825e-03 5.35342174e+01] [-1.21978533e-02 9.99925441e-01 5.70136896e-04 -3.65244927e+00] [ 6.73366315e-03 -4.88024054e-04 9.99977210e-01 -7.94486032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482414037 meters 0.08778047767326481 Centerline is valid? [True, True] Translation: X:53.59, Y:-3.66, Z:-0.80 [[ 9.99867840e-01 1.49219162e-02 -6.45288614e-03 5.35931218e+01] [-1.49186996e-02 9.99888561e-01 5.46326057e-04 -3.65635312e+00] [ 6.46031927e-03 -4.49985185e-04 9.99979031e-01 -7.96864085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542414037 meters 0.08817004332956063 Centerline is valid? [True, True] Translation: X:53.65, Y:-3.66, Z:-0.80 [[ 9.99856621e-01 1.59761350e-02 -5.61260752e-03 5.36522788e+01] [-1.59737219e-02 9.99872299e-01 4.74513833e-04 -3.65993437e+00] [ 5.61947168e-03 -3.84791566e-04 9.99984137e-01 -7.97035174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602414036999996 meters 0.08888087406038958 Centerline is valid? [True, True] Translation: X:53.71, Y:-3.67, Z:-0.80 [[ 9.99865185e-01 1.55564357e-02 -5.25448359e-03 5.37110021e+01] [-1.55543187e-02 9.99878926e-01 4.43518100e-04 -3.66545076e+00] [ 5.26074697e-03 -3.61728395e-04 9.99986097e-01 -7.99193607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662414037 meters 0.09089693519872816 Centerline is valid? [True, True] Translation: X:53.77, Y:-3.67, Z:-0.80 [[ 9.99912030e-01 1.29874914e-02 -2.69376806e-03 5.37698754e+01] [-1.29869259e-02 9.99915640e-01 2.27316043e-04 -3.67477267e+00] [ 2.69649308e-03 -1.92312280e-04 9.99996346e-01 -8.01119256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722414037 meters 0.08753605784164611 Centerline is valid? [True, True] Translation: X:53.83, Y:-3.67, Z:-0.80 [[ 9.99934863e-01 1.09721865e-02 -3.14351524e-03 5.38305075e+01] [-1.09714053e-02 9.99939777e-01 2.65628219e-04 -3.67180423e+00] [ 3.14624045e-03 -2.31122137e-04 9.99995024e-01 -7.99728766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782414037 meters 0.09373052068239614 Centerline is valid? [True, True] Translation: X:53.89, Y:-3.69, Z:-0.81 [[ 9.99925291e-01 1.01461460e-02 -6.81678137e-03 5.38881451e+01] [-1.01424546e-02 9.99948398e-01 5.75865075e-04 -3.68681719e+00] [ 6.82227243e-03 -5.06683157e-04 9.99976600e-01 -8.07776918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842414037 meters 0.08704253936147138 Centerline is valid? [True, True] Translation: X:53.95, Y:-3.68, Z:-0.80 [[ 9.99926297e-01 1.03477783e-02 -6.35015654e-03 5.39487982e+01] [-1.03445837e-02 9.99946350e-01 5.35711310e-04 -3.67514965e+00] [ 6.35535927e-03 -4.69982101e-04 9.99979694e-01 -8.02506802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902414037 meters 0.08659411448988355 Centerline is valid? [True, True] Translation: X:54.01, Y:-3.68, Z:-0.80 [[ 9.99937518e-01 1.04207277e-02 -4.04587512e-03 5.40076424e+01] [-1.04194356e-02 9.99945658e-01 3.40309055e-04 -3.67863853e+00] [ 4.04920153e-03 -2.98132057e-04 9.99991758e-01 -8.01244377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962414037 meters 0.08780716268514943 Centerline is valid? [True, True] Translation: X:54.06, Y:-3.68, Z:-0.80 [[ 9.99943342e-01 1.02431722e-02 -2.89664555e-03 5.40649889e+01] [-1.02425120e-02 9.99947515e-01 2.42680070e-04 -3.68484870e+00] [ 2.89897934e-03 -2.12997394e-04 9.99995775e-01 -8.02848304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022414037 meters 0.08841434749230978 Centerline is valid? [True, True] Translation: X:54.12, Y:-3.69, Z:-0.80 [[ 9.99931163e-01 1.08695585e-02 -4.41847107e-03 5.41222109e+01] [-1.08680258e-02 9.99940873e-01 3.70749174e-04 -3.68969671e+00] [ 4.42223970e-03 -3.22703595e-04 9.99990170e-01 -8.04644650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082414037 meters 0.0887079654615513 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.69, Z:-0.81 [[ 9.99900186e-01 1.34896332e-02 -4.20091104e-03 5.41814631e+01] [-1.34882673e-02 9.99908967e-01 3.53305162e-04 -3.69437217e+00] [ 4.20529458e-03 -2.96606886e-04 9.99991114e-01 -8.06751270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142414037 meters 0.08511170614612724 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.69, Z:-0.81 [[ 9.99889543e-01 1.44920445e-02 -3.29885240e-03 5.42408865e+01] [-1.44912113e-02 9.99894959e-01 2.76332416e-04 -3.68940085e+00] [ 3.30251051e-03 -2.28497526e-04 9.99994521e-01 -8.05373966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202414037 meters 0.08574652947758961 Centerline is valid? [True, True] Translation: X:54.30, Y:-3.69, Z:-0.81 [[ 9.99859490e-01 1.61794461e-02 -4.38473831e-03 5.42981366e+01] [-1.61779913e-02 9.99869060e-01 3.67064203e-04 -3.69368531e+00] [ 4.39010307e-03 -2.96076369e-04 9.99990320e-01 -8.08518716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262414037 meters 0.08532272497774963 Centerline is valid? [True, True] Translation: X:54.36, Y:-3.70, Z:-0.81 [[ 9.99859117e-01 1.61479363e-02 -4.58161482e-03 5.43563595e+01] [-1.61463509e-02 9.99869566e-01 3.82810842e-04 -3.69707461e+00] [ 4.58719882e-03 -3.08780549e-04 9.99989431e-01 -8.08982820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322414037 meters 0.08447072653325939 Centerline is valid? [True, True] Translation: X:54.42, Y:-3.70, Z:-0.81 [[ 9.99852942e-01 1.64321696e-02 -4.90703190e-03 5.44150775e+01] [-1.64303520e-02 9.99864928e-01 4.10488987e-04 -3.69953824e+00] [ 4.91311433e-03 -3.29804360e-04 9.99987876e-01 -8.09803611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382414037 meters 0.08468140770493257 Centerline is valid? [True, True] Translation: X:54.47, Y:-3.70, Z:-0.81 [[ 9.99854362e-01 1.63384013e-02 -4.93059164e-03 5.44724211e+01] [-1.63365710e-02 9.99866465e-01 4.11273843e-04 -3.70431964e+00] [ 4.93665279e-03 -3.30664986e-04 9.99987760e-01 -8.11618910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442414037 meters 0.0872335941232711 Centerline is valid? [True, True] Translation: X:54.53, Y:-3.71, Z:-0.82 [[ 9.99876060e-01 1.50437421e-02 -4.64222288e-03 5.45292037e+01] [-1.50421083e-02 9.99886786e-01 3.86665730e-04 -3.71381200e+00] [ 4.64751421e-03 -3.16788987e-04 9.99989150e-01 -8.15440752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502414037 meters 0.0850508171016006 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.71, Z:-0.81 [[ 9.99893970e-01 1.38860087e-02 -4.38499176e-03 5.45880257e+01] [-1.38845388e-02 9.99903538e-01 3.65477381e-04 -3.71224377e+00] [ 4.38964380e-03 -3.04555042e-04 9.99990319e-01 -8.14432539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562414036999996 meters 0.08850684761791773 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.72, Z:-0.82 [[ 9.99917945e-01 1.22895471e-02 -3.61526587e-03 5.46453308e+01] [-1.22885388e-02 9.99924448e-01 3.00975413e-04 -3.72429016e+00] [ 3.61869158e-03 -2.56524382e-04 9.99993420e-01 -8.17564083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622414037 meters 0.09018434310800423 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.73, Z:-0.82 [[ 9.99959335e-01 8.07285841e-03 -4.01968633e-03 5.47051696e+01] [-8.07157219e-03 9.99967368e-01 3.36100249e-04 -3.73159704e+00] [ 4.02226845e-03 -3.03641393e-04 9.99991865e-01 -8.19126359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682414037 meters 0.08739814248662366 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.73, Z:-0.82 [[ 9.99988162e-01 3.90395896e-03 -2.90432589e-03 5.47655733e+01] [-3.90327006e-03 9.99992353e-01 2.42829393e-04 -3.73050414e+00] [ 2.90525168e-03 -2.31490150e-04 9.99995753e-01 -8.17156225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742414036999996 meters 0.090694712298192 Centerline is valid? [True, True] Translation: X:54.82, Y:-3.74, Z:-0.82 [[ 9.99990892e-01 -1.18031955e-03 -4.10162114e-03 5.48239304e+01] [ 1.18173562e-03 9.99999243e-01 3.42840125e-04 -3.74295291e+00] [ 4.10121338e-03 -3.47684034e-04 9.99991530e-01 -8.21674173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802414037 meters 0.09360861821830999 Centerline is valid? [True, True] Translation: X:54.88, Y:-3.75, Z:-0.82 [[ 9.99982146e-01 -3.79126207e-03 -4.61877019e-03 5.48829839e+01] [ 3.79308282e-03 9.99992732e-01 3.85511084e-04 -3.75013223e+00] [ 4.61727505e-03 -4.03023579e-04 9.99989259e-01 -8.24056491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862414037 meters 0.09172219433459858 Centerline is valid? [True, True] Translation: X:54.94, Y:-3.75, Z:-0.82 [[ 9.99982525e-01 -4.76770618e-03 -3.49546054e-03 5.49429618e+01] [ 4.76875339e-03 9.99988587e-01 2.91317806e-04 -3.74959194e+00] [ 3.49403173e-03 -3.07981704e-04 9.99993848e-01 -8.23433089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922414036999996 meters 0.09197118639476323 Centerline is valid? [True, True] Translation: X:55.00, Y:-3.75, Z:-0.83 [[ 9.99979967e-01 -5.90066945e-03 -2.29092686e-03 5.50036815e+01] [ 5.90112420e-03 9.99982570e-01 1.91792122e-04 -3.75332608e+00] [ 2.28975522e-03 -2.05307324e-04 9.99997357e-01 -8.25111303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982414037 meters 0.09331914682163224 Centerline is valid? [True, True] Translation: X:55.06, Y:-3.76, Z:-0.83 [[ 9.99971468e-01 -6.99654237e-03 -2.84798014e-03 5.50642828e+01] [ 6.99724946e-03 9.99975491e-01 2.38390846e-04 -3.76021204e+00] [ 2.84624242e-03 -2.58312072e-04 9.99995916e-01 -8.29173845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042414037 meters 0.09444329202084605 Centerline is valid? [True, True] Translation: X:55.13, Y:-3.77, Z:-0.83 [[ 9.99969829e-01 -7.48592093e-03 -2.07411236e-03 5.51258171e+01] [ 7.48629808e-03 9.99971962e-01 1.74135406e-04 -3.76539574e+00] [ 2.07275064e-03 -1.89657576e-04 9.99997834e-01 -8.29746317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102414036999996 meters 0.09755300105371359 Centerline is valid? [True, True] Translation: X:55.19, Y:-3.78, Z:-0.83 [[ 9.99975632e-01 -6.70557453e-03 -1.94193088e-03 5.51863763e+01] [ 6.70590821e-03 9.99977501e-01 1.65366746e-04 -3.77550727e+00] [ 1.94077831e-03 -1.78385127e-04 9.99998101e-01 -8.32222082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162414037 meters 0.0942590820324732 Centerline is valid? [True, True] Translation: X:55.25, Y:-3.77, Z:-0.83 [[ 9.99964482e-01 -7.69101946e-03 -3.44716218e-03 5.52481557e+01] [ 7.69206284e-03 9.99970374e-01 2.89523133e-04 -3.77236911e+00] [ 3.44483332e-03 -3.16028638e-04 9.99994017e-01 -8.32022003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222414037 meters 0.09426840833335819 Centerline is valid? [True, True] Translation: X:55.31, Y:-3.78, Z:-0.83 [[ 9.99958359e-01 -8.25217061e-03 -3.89631362e-03 5.53098400e+01] [ 8.25351434e-03 9.99965885e-01 3.28918177e-04 -3.77636117e+00] [ 3.89346641e-03 -3.61062761e-04 9.99992355e-01 -8.34936786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282414037 meters 0.09739245793333713 Centerline is valid? [True, True] Translation: X:55.37, Y:-3.79, Z:-0.84 [[ 9.99962789e-01 -8.14187595e-03 -2.85135544e-03 5.53699452e+01] [ 8.14259307e-03 9.99966820e-01 2.39982564e-04 -3.78715288e+00] [ 2.84930692e-03 -2.63191061e-04 9.99995906e-01 -8.37598025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342414037 meters 0.09795589375820668 Centerline is valid? [True, True] Translation: X:55.43, Y:-3.79, Z:-0.84 [[ 9.99984391e-01 -5.44066081e-03 -1.27188399e-03 5.54288863e+01] [ 5.44080047e-03 9.99985193e-01 1.06374220e-04 -3.79096869e+00] [ 1.27128641e-03 -1.13292627e-04 9.99999185e-01 -8.38556005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402414037 meters 0.09453015476032907 Centerline is valid? [True, True] Translation: X:55.49, Y:-3.78, Z:-0.84 [[ 9.99997445e-01 -6.53749278e-04 -2.16409336e-03 5.54906732e+01] [ 6.54144467e-04 9.99999770e-01 1.81909008e-04 -3.78492762e+00] [ 2.16397394e-03 -1.83324173e-04 9.99997642e-01 -8.37566931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462414037 meters 0.08995184903179146 Centerline is valid? [True, True] Translation: X:55.55, Y:-3.78, Z:-0.84 [[ 9.99994521e-01 2.89211163e-03 -1.61035663e-03 5.55519254e+01] [-2.89189778e-03 9.99995809e-01 1.35108630e-04 -3.77970228e+00] [ 1.61074063e-03 -1.30450903e-04 9.99998694e-01 -8.36901844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522414037 meters 0.08971230923418629 Centerline is valid? [True, True] Translation: X:55.61, Y:-3.78, Z:-0.84 [[ 9.99967124e-01 7.59697618e-03 -2.83484892e-03 5.56104763e+01] [-7.59633499e-03 9.99971119e-01 2.36879997e-04 -3.78160497e+00] [ 2.83656662e-03 -2.15337748e-04 9.99995954e-01 -8.40422570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582414037 meters 0.08760549798505825 Centerline is valid? [True, True] Translation: X:55.67, Y:-3.78, Z:-0.84 [[ 9.99953487e-01 9.60536108e-03 -8.72786575e-04 5.56709076e+01] [-9.60530115e-03 9.99953865e-01 7.28319863e-05 -3.77990054e+00] [ 8.73445886e-04 -6.44452208e-05 9.99999616e-01 -8.40382942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642414037 meters 0.0881121952163273 Centerline is valid? [True, True] Translation: X:55.73, Y:-3.79, Z:-0.84 [[ 9.99956472e-01 9.32900189e-03 1.54694889e-04 5.57298916e+01] [-9.32899965e-03 9.99956484e-01 -1.51704449e-05 -3.78593893e+00] [-1.54829682e-04 1.37266360e-05 9.99999988e-01 -8.41456335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702414037 meters 0.0878788363161758 Centerline is valid? [True, True] Translation: X:55.79, Y:-3.79, Z:-0.84 [[ 9.99955942e-01 9.36992577e-03 -5.63703411e-04 5.57886764e+01] [-9.36990144e-03 9.99956100e-01 4.57764349e-05 -3.78934725e+00] [ 5.64107587e-04 -4.04925727e-05 9.99999840e-01 -8.41448466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762414037 meters 0.09122573571735426 Centerline is valid? [True, True] Translation: X:55.85, Y:-3.80, Z:-0.85 [[ 9.99954731e-01 9.38467162e-03 -1.56943551e-03 5.58457013e+01] [-9.38447988e-03 9.99955956e-01 1.29489034e-04 -3.80101067e+00] [ 1.57058160e-03 -1.14754837e-04 9.99998760e-01 -8.45469786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822414037 meters 0.09010098011389991 Centerline is valid? [True, True] Translation: X:55.90, Y:-3.80, Z:-0.85 [[ 9.99948995e-01 9.96418213e-03 -1.64982772e-03 5.59047914e+01] [-9.96397048e-03 9.99950349e-01 1.36453992e-04 -3.80449984e+00] [ 1.65110546e-03 -1.20008198e-04 9.99998630e-01 -8.46584204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882414037 meters 0.08805316967829861 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.80, Z:-0.85 [[ 9.99915234e-01 1.26824741e-02 -2.94615744e-03 5.59653466e+01] [-1.26818049e-02 9.99919552e-01 2.45707539e-04 -3.80475277e+00] [ 2.94903661e-03 -2.08324117e-04 9.99995630e-01 -8.47483884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942414037 meters 0.08725343348064737 Centerline is valid? [True, True] Translation: X:56.03, Y:-3.81, Z:-0.85 [[ 9.99860232e-01 1.65316967e-02 -2.49392471e-03 5.60258205e+01] [-1.65312286e-02 9.99863328e-01 2.08214977e-04 -3.80590122e+00] [ 2.49702601e-03 -1.66958236e-04 9.99996868e-01 -8.48042877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002414037 meters 0.08646024854544324 Centerline is valid? [True, True] Translation: X:56.09, Y:-3.81, Z:-0.85 [[ 9.99818017e-01 1.88572479e-02 -2.88734655e-03 5.60859780e+01] [-1.88566309e-02 9.99822169e-01 2.40742516e-04 -3.81051559e+00] [ 2.89137283e-03 -1.86253077e-04 9.99995803e-01 -8.50677289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062414036999996 meters 0.08555171989531045 Centerline is valid? [True, True] Translation: X:56.15, Y:-3.81, Z:-0.85 [[ 9.99768914e-01 2.14660022e-02 -1.15312430e-03 5.61463108e+01] [-2.14659058e-02 9.99769576e-01 9.59407927e-05 -3.81376419e+00] [ 1.15491806e-03 -7.11657646e-05 9.99999331e-01 -8.50756527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122414037 meters 0.08396326917473236 Centerline is valid? [True, True] Translation: X:56.21, Y:-3.81, Z:-0.85 [[ 9.99688890e-01 2.49302113e-02 7.80226901e-04 5.62065421e+01] [-2.49301679e-02 9.99689193e-01 -6.52322374e-05 -3.81385278e+00] [-7.81610655e-04 4.57607553e-05 9.99999693e-01 -8.49581474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182414037 meters 0.08325688333255205 Centerline is valid? [True, True] Translation: X:56.27, Y:-3.82, Z:-0.85 [[ 9.99552071e-01 2.98952739e-02 -1.38955545e-03 5.62655185e+01] [-2.98951421e-02 9.99553034e-01 1.15564695e-04 -3.82050078e+00] [ 1.39238920e-03 -7.39719728e-05 9.99999028e-01 -8.54594372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242414036999996 meters 0.08336733758603879 Centerline is valid? [True, True] Translation: X:56.32, Y:-3.83, Z:-0.86 [[ 9.99522149e-01 3.08701984e-02 -1.58248102e-03 5.63236908e+01] [-3.08700301e-02 9.99523399e-01 1.30659874e-04 -3.82607546e+00] [ 1.58576030e-03 -8.17462014e-05 9.99998739e-01 -8.57036629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302414037 meters 0.07969077574369593 Centerline is valid? [True, True] Translation: X:56.38, Y:-3.82, Z:-0.85 [[ 9.99444616e-01 3.32758890e-02 -1.78192174e-03 5.63840025e+01] [-3.32756782e-02 9.99446200e-01 1.47833515e-04 -3.82051702e+00] [ 1.78585421e-03 -8.84567557e-05 9.99998401e-01 -8.52587264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362414037 meters 0.07974274471098038 Centerline is valid? [True, True] Translation: X:56.44, Y:-3.83, Z:-0.86 [[ 9.99403529e-01 3.44533386e-02 -2.35670481e-03 5.64424694e+01] [-3.44529745e-02 9.99406301e-01 1.94894424e-04 -3.82837983e+00] [ 2.36202040e-03 -1.13582684e-04 9.99997204e-01 -8.55216309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422414036999996 meters 0.07926089610625621 Centerline is valid? [True, True] Translation: X:56.50, Y:-3.84, Z:-0.86 [[ 9.99346440e-01 3.58640494e-02 -4.52366409e-03 5.65010446e+01] [-3.58627183e-02 9.99356655e-01 3.75060993e-04 -3.83505299e+00] [ 4.53420502e-03 -2.12584977e-04 9.99989698e-01 -8.58537990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482414037 meters 0.07869704721599183 Centerline is valid? [True, True] Translation: X:56.56, Y:-3.84, Z:-0.86 [[ 9.99223393e-01 3.89974163e-02 -5.64018827e-03 5.65606060e+01] [-3.89953919e-02 9.99239281e-01 4.68502433e-04 -3.83961761e+00] [ 5.65416805e-03 -2.48197239e-04 9.99983984e-01 -8.59058455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542414037 meters 0.07876851015610338 Centerline is valid? [True, True] Translation: X:56.62, Y:-3.84, Z:-0.86 [[ 9.99141376e-01 4.11348315e-02 -4.94328883e-03 5.66198464e+01] [-4.11333037e-02 9.99153583e-01 4.10374059e-04 -3.84476452e+00] [ 4.95598541e-03 -2.06687901e-04 9.99987698e-01 -8.60547978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602414036999996 meters 0.07792291502328884 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.85, Z:-0.86 [[ 9.99012907e-01 4.42960938e-02 -3.32688946e-03 5.66796304e+01] [-4.42954192e-02 9.99018438e-01 2.76243069e-04 -3.84969298e+00] [ 3.33586040e-03 -1.28604428e-04 9.99994428e-01 -8.59595126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662414037 meters 0.07770313263237671 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.86, Z:-0.86 [[ 9.98991587e-01 4.47939773e-02 -3.05092871e-03 5.67382884e+01] [-4.47934285e-02 9.98996240e-01 2.48000898e-04 -3.85649095e+00] [ 3.05897526e-03 -1.11089253e-04 9.99995315e-01 -8.60420214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722414037 meters 0.07826920182672059 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.87, Z:-0.86 [[ 9.99041508e-01 4.34989958e-02 -4.88901650e-03 5.67971029e+01] [-4.34975366e-02 9.99053452e-01 4.04449756e-04 -3.86651844e+00] [ 4.90198198e-03 -1.91401920e-04 9.99987967e-01 -8.63267010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782414037 meters 0.07788672812489957 Centerline is valid? [True, True] Translation: X:56.85, Y:-3.87, Z:-0.86 [[ 9.98984541e-01 4.45331328e-02 -6.83278307e-03 5.68545168e+01] [-4.45303513e-02 9.99007876e-01 5.58752789e-04 -3.87188000e+00] [ 6.85088711e-03 -2.53919168e-04 9.99976500e-01 -8.64535555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842414037 meters 0.07809396436491599 Centerline is valid? [True, True] Translation: X:56.91, Y:-3.88, Z:-0.87 [[ 9.98800536e-01 4.80279861e-02 -9.52895331e-03 5.69116382e+01] [-4.80226844e-02 9.98845937e-01 7.84545455e-04 -3.87873923e+00] [ 9.55563643e-03 -3.25998504e-04 9.99954291e-01 -8.68513290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902414037 meters 0.07714688275211175 Centerline is valid? [True, True] Translation: X:56.97, Y:-3.89, Z:-0.87 [[ 9.98622014e-01 5.19474710e-02 -7.45207881e-03 5.69713344e+01] [-5.19443309e-02 9.98649793e-01 6.14426744e-04 -3.88557565e+00] [ 7.47393487e-03 -2.26486825e-04 9.99972044e-01 -8.66681441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962414037 meters 0.07630976270886826 Centerline is valid? [True, True] Translation: X:57.03, Y:-3.89, Z:-0.87 [[ 9.98442311e-01 5.54501514e-02 -6.18324494e-03 5.70311598e+01] [-5.54480577e-02 9.98461443e-01 5.09641159e-04 -3.88921145e+00] [ 6.20199134e-03 -1.65998374e-04 9.99980754e-01 -8.65390504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022414037 meters 0.07583472944272018 Centerline is valid? [True, True] Translation: X:57.09, Y:-3.90, Z:-0.87 [[ 9.98274515e-01 5.84081172e-02 -6.04027497e-03 5.70896517e+01] [-5.84061823e-02 9.98292778e-01 4.96392913e-04 -3.89502164e+00] [ 6.05895625e-03 -1.42746994e-04 9.99981634e-01 -8.65528605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082414037 meters 0.07581062108258094 Centerline is valid? [True, True] Translation: X:57.15, Y:-3.90, Z:-0.87 [[ 9.98299400e-01 5.78707740e-02 -7.02012474e-03 5.71475657e+01] [-5.78681822e-02 9.98324069e-01 5.71926517e-04 -3.90347772e+00] [ 7.04145733e-03 -1.64712041e-04 9.99975195e-01 -8.67264778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142414037 meters 0.07655345789431442 Centerline is valid? [True, True] Translation: X:57.20, Y:-3.92, Z:-0.87 [[ 9.98528745e-01 5.36948094e-02 -7.56396071e-03 5.72048012e+01] [-5.36916511e-02 9.98557370e-01 6.20138133e-04 -3.92057770e+00] [ 7.58634691e-03 -2.13104212e-04 9.99971201e-01 -8.72110177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202414037 meters 0.07772609210802732 Centerline is valid? [True, True] Translation: X:57.26, Y:-3.94, Z:-0.87 [[ 9.98909767e-01 4.59271901e-02 -8.36480888e-03 5.72639838e+01] [-4.59230462e-02 9.98944744e-01 6.86890829e-04 -3.93836477e+00] [ 8.38752883e-03 -3.02004453e-04 9.99964778e-01 -8.73415547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262414037 meters 0.07894684666505897 Centerline is valid? [True, True] Translation: X:57.32, Y:-3.95, Z:-0.88 [[ 9.99106295e-01 4.10709124e-02 -9.98953212e-03 5.73228176e+01] [-4.10647616e-02 9.99156150e-01 8.20144148e-04 -3.95309188e+00] [ 1.00147865e-02 -4.09193426e-04 9.99949767e-01 -8.75758296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322414037 meters 0.07969007028456085 Centerline is valid? [True, True] Translation: X:57.38, Y:-3.97, Z:-0.88 [[ 9.99316682e-01 3.54740601e-02 -1.03807494e-02 5.73817941e+01] [-3.54671162e-02 9.99370480e-01 8.52308004e-04 -3.96835019e+00] [ 1.04044493e-02 -4.83550362e-04 9.99945755e-01 -8.77203463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382414037 meters 0.07996220813458894 Centerline is valid? [True, True] Translation: X:57.44, Y:-3.98, Z:-0.88 [[ 9.99419165e-01 3.27624206e-02 -9.37853085e-03 5.74408181e+01] [-3.27566426e-02 9.99463061e-01 7.69073521e-04 -3.98014463e+00] [ 9.39869186e-03 -4.61417633e-04 9.99955725e-01 -8.78580082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442414037 meters 0.07877744689754128 Centerline is valid? [True, True] Translation: X:57.50, Y:-3.99, Z:-0.88 [[ 9.99492774e-01 3.05594262e-02 -8.96191806e-03 5.74996782e+01] [-3.05540748e-02 9.99532846e-01 7.33472129e-04 -3.98515822e+00] [ 8.98014595e-03 -4.59276978e-04 9.99959572e-01 -8.76349311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502414037 meters 0.08034849349131966 Centerline is valid? [True, True] Translation: X:57.56, Y:-4.00, Z:-0.88 [[ 9.99492109e-01 3.07657799e-02 -8.30604475e-03 5.75561335e+01] [-3.07611998e-02 9.99526532e-01 6.78634564e-04 -3.99786272e+00] [ 8.32299083e-03 -4.22785989e-04 9.99965274e-01 -8.78970021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562414036999996 meters 0.0791428822931974 Centerline is valid? [True, True] Translation: X:57.61, Y:-4.00, Z:-0.88 [[ 9.99501308e-01 3.03244241e-02 -8.80712389e-03 5.76146801e+01] [-3.03192590e-02 9.99540007e-01 7.19417822e-04 -4.00462247e+00] [ 8.82488860e-03 -4.52033583e-04 9.99960958e-01 -8.79794430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622414037 meters 0.080045479195197 Centerline is valid? [True, True] Translation: X:57.67, Y:-4.01, Z:-0.88 [[ 9.99480020e-01 3.07422860e-02 -9.72632718e-03 5.76711453e+01] [-3.07360262e-02 9.99527223e-01 7.92445360e-04 -4.01427859e+00] [ 9.74609038e-03 -4.93084656e-04 9.99952384e-01 -8.83193797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682414037 meters 0.07964581533459288 Centerline is valid? [True, True] Translation: X:57.73, Y:-4.02, Z:-0.88 [[ 9.99403423e-01 3.22569317e-02 -1.23405121e-02 5.77291039e+01] [-3.22470411e-02 9.99479429e-01 9.99672364e-04 -4.01935801e+00] [ 1.23663343e-02 -6.01130983e-04 9.99923353e-01 -8.84835440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742414036999996 meters 0.0789619905431298 Centerline is valid? [True, True] Translation: X:57.79, Y:-4.03, Z:-0.89 [[ 9.99334823e-01 3.38522517e-02 -1.35623176e-02 5.77873678e+01] [-3.38404801e-02 9.99426645e-01 1.09657606e-03 -4.02548396e+00] [ 1.35916631e-02 -6.36891299e-04 9.99907426e-01 -8.87730909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802414037 meters 0.07817390026806834 Centerline is valid? [True, True] Translation: X:57.85, Y:-4.03, Z:-0.89 [[ 9.99300892e-01 3.54771078e-02 -1.17941346e-02 5.78467879e+01] [-3.54682808e-02 9.99370345e-01 9.56811010e-04 -4.03263957e+00] [ 1.18206532e-02 -5.37824419e-04 9.99929989e-01 -8.86302940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862414037 meters 0.07700982097526259 Centerline is valid? [True, True] Translation: X:57.91, Y:-4.04, Z:-0.88 [[ 9.99235506e-01 3.80895104e-02 -8.80864410e-03 5.79069309e+01] [-3.80846879e-02 9.99274260e-01 7.14629973e-04 -4.03617079e+00] [ 8.82947122e-03 -3.78609181e-04 9.99960948e-01 -8.82522230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922414036999996 meters 0.07702967082770862 Centerline is valid? [True, True] Translation: X:57.96, Y:-4.04, Z:-0.88 [[ 9.99162011e-01 3.94855009e-02 -1.07782295e-02 5.79641134e+01] [-3.94783920e-02 9.99220044e-01 8.71604232e-04 -4.04248726e+00] [ 1.08042387e-02 -4.45366668e-04 9.99941533e-01 -8.84859322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982414037 meters 0.07698997615607558 Centerline is valid? [True, True] Translation: X:58.02, Y:-4.05, Z:-0.89 [[ 9.98999759e-01 4.30330700e-02 -1.21505930e-02 5.80214964e+01] [-4.30243159e-02 9.99073544e-01 9.81064223e-04 -4.04936465e+00] [ 1.21815542e-02 -4.57311971e-04 9.99925698e-01 -8.89060389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042414037 meters 0.07730816267067422 Centerline is valid? [True, True] Translation: X:58.08, Y:-4.06, Z:-0.89 [[ 9.98911528e-01 4.43849313e-02 -1.43435224e-02 5.80787647e+01] [-4.43728708e-02 9.99014368e-01 1.15814631e-03 -4.05539107e+00] [ 1.43807892e-02 -5.20422434e-04 9.99896456e-01 -8.91399180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102414036999996 meters 0.07704768452680492 Centerline is valid? [True, True] Translation: X:58.14, Y:-4.06, Z:-0.89 [[ 9.98909214e-01 4.43426073e-02 -1.46327021e-02 5.81362724e+01] [-4.43301660e-02 9.99016246e-01 1.17365906e-03 -4.06033727e+00] [ 1.46703502e-02 -5.23708736e-04 9.99892247e-01 -8.92302103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162414037 meters 0.0778961755015336 Centerline is valid? [True, True] Translation: X:58.19, Y:-4.07, Z:-0.90 [[ 9.98954348e-01 4.32873625e-02 -1.47110176e-02 5.81930378e+01] [-4.32746336e-02 9.99062514e-01 1.18264030e-03 -4.07152765e+00] [ 1.47484196e-02 -5.44789774e-04 9.99891088e-01 -8.96869988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222414037 meters 0.07787486851207225 Centerline is valid? [True, True] Translation: X:58.25, Y:-4.08, Z:-0.90 [[ 9.99081906e-01 4.07064247e-02 -1.33541078e-02 5.82514761e+01] [-4.06957900e-02 9.99171013e-01 1.06725260e-03 -4.07943953e+00] [ 1.33864815e-02 -5.22816797e-04 9.99910260e-01 -8.96023281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282414037 meters 0.07873778051812573 Centerline is valid? [True, True] Translation: X:58.31, Y:-4.09, Z:-0.90 [[ 9.99182519e-01 3.81908607e-02 -1.32571169e-02 5.83095960e+01] [-3.81801177e-02 9.99270309e-01 1.06259552e-03 -4.08991701e+00] [ 1.32880247e-02 -5.55568580e-04 9.99911556e-01 -8.98217600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342414037 meters 0.07839323321389247 Centerline is valid? [True, True] Translation: X:58.37, Y:-4.10, Z:-0.90 [[ 9.99283683e-01 3.59775097e-02 -1.17362942e-02 5.83678589e+01] [-3.59690170e-02 9.99352469e-01 9.33971464e-04 -4.10001970e+00] [ 1.17622966e-02 -5.11159477e-04 9.99930691e-01 -8.96548124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402414037 meters 0.07854134791272807 Centerline is valid? [True, True] Translation: X:58.43, Y:-4.11, Z:-0.90 [[ 9.99326417e-01 3.49069251e-02 -1.13233999e-02 5.84266907e+01] [-3.48989219e-02 9.99390439e-01 9.03670183e-04 -4.10618044e+00] [ 1.13480419e-02 -5.07887038e-04 9.99935480e-01 -8.95962529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462414037 meters 0.07800331959428533 Centerline is valid? [True, True] Translation: X:58.49, Y:-4.11, Z:-0.89 [[ 9.99424453e-01 3.11861673e-02 -1.33486164e-02 5.84871536e+01] [-3.11746977e-02 9.99513382e-01 1.06650080e-03 -4.11055238e+00] [ 1.33753808e-02 -6.49747897e-04 9.99910334e-01 -8.94180414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522414037 meters 0.08019562754664769 Centerline is valid? [True, True] Translation: X:58.54, Y:-4.13, Z:-0.90 [[ 9.99543760e-01 2.76940056e-02 -1.20546189e-02 5.85445178e+01] [-2.76844165e-02 9.99616251e-01 9.61646392e-04 -4.12648595e+00] [ 1.20766248e-02 -6.27482561e-04 9.99926878e-01 -8.99030628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582414037 meters 0.0811538544364221 Centerline is valid? [True, True] Translation: X:58.60, Y:-4.14, Z:-0.90 [[ 9.99646385e-01 2.27035173e-02 -1.38439732e-02 5.86046474e+01] [-2.26903752e-02 9.99741929e-01 1.10565425e-03 -4.13512013e+00] [ 1.38655027e-02 -7.91138327e-04 9.99903556e-01 -9.00557073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642414037 meters 0.08065642832702366 Centerline is valid? [True, True] Translation: X:58.66, Y:-4.14, Z:-0.90 [[ 9.99679876e-01 2.07878455e-02 -1.44226166e-02 5.86639835e+01] [-2.07734007e-02 9.99783547e-01 1.15064309e-03 -4.13930491e+00] [ 1.44434142e-02 -8.50667943e-04 9.99895327e-01 -9.00299255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702414037 meters 0.08143060192152168 Centerline is valid? [True, True] Translation: X:58.72, Y:-4.15, Z:-0.90 [[ 9.99716848e-01 1.96189442e-02 -1.34655742e-02 5.87217128e+01] [-1.96062968e-02 9.99807205e-01 1.07061950e-03 -4.14830239e+00] [ 1.34839825e-02 -8.06306309e-04 9.99908762e-01 -9.03286829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762414037 meters 0.08147469070456853 Centerline is valid? [True, True] Translation: X:58.78, Y:-4.15, Z:-0.90 [[ 9.99704405e-01 2.08269366e-02 -1.25436036e-02 5.87802476e+01] [-2.08160538e-02 9.99782825e-01 9.97542080e-04 -4.15265254e+00] [ 1.25616552e-02 -7.36138883e-04 9.99920828e-01 -9.03252568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822414037 meters 0.08164630127221557 Centerline is valid? [True, True] Translation: X:58.84, Y:-4.16, Z:-0.91 [[ 9.99642653e-01 2.24526902e-02 -1.45066789e-02 5.88393463e+01] [-2.24383071e-02 9.99747564e-01 1.15350703e-03 -4.15782985e+00] [ 1.45289162e-02 -8.27589511e-04 9.99894107e-01 -9.05573144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882414037 meters 0.07956497687740934 Centerline is valid? [True, True] Translation: X:58.90, Y:-4.16, Z:-0.90 [[ 9.99655498e-01 2.15459854e-02 -1.49885493e-02 5.88983806e+01] [-2.15305510e-02 9.99767482e-01 1.19036909e-03 -4.15678588e+00] [ 1.50107119e-02 -8.67247281e-04 9.99886957e-01 -9.03296498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942414037 meters 0.08140641442891422 Centerline is valid? [True, True] Translation: X:58.96, Y:-4.17, Z:-0.91 [[ 9.99701692e-01 2.01331840e-02 -1.38268443e-02 5.89558445e+01] [-2.01199378e-02 9.99796972e-01 1.09645516e-03 -4.16763237e+00] [ 1.38461122e-02 -8.17932831e-04 9.99903803e-01 -9.06729443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002414037 meters 0.08060896667341512 Centerline is valid? [True, True] Translation: X:59.01, Y:-4.17, Z:-0.91 [[ 9.99703481e-01 1.93951030e-02 -1.47234818e-02 5.90147838e+01] [-1.93800112e-02 9.99811509e-01 1.16701989e-03 -4.17020690e+00] [ 1.47433410e-02 -8.81332600e-04 9.99890923e-01 -9.05937338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062414036999996 meters 0.07970092889762927 Centerline is valid? [True, True] Translation: X:59.07, Y:-4.17, Z:-0.90 [[ 9.99721737e-01 1.85764492e-02 -1.45383554e-02 5.90735053e+01] [-1.85616642e-02 9.99827055e-01 1.15124918e-03 -4.17136002e+00] [ 1.45572272e-02 -8.81072761e-04 9.99893650e-01 -9.04885671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122414037 meters 0.08190501357335332 Centerline is valid? [True, True] Translation: X:59.13, Y:-4.18, Z:-0.91 [[ 9.99754876e-01 1.69843314e-02 -1.42028001e-02 5.91309890e+01] [-1.69700667e-02 9.99855366e-01 1.12428306e-03 -4.18329967e+00] [ 1.42198411e-02 -8.82985005e-04 9.99898503e-01 -9.10179196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182414037 meters 0.08202197139930054 Centerline is valid? [True, True] Translation: X:59.19, Y:-4.19, Z:-0.91 [[ 9.99785426e-01 1.47008201e-02 -1.45940725e-02 5.91901275e+01] [-1.46855261e-02 9.99891495e-01 1.15457908e-03 -4.18639929e+00] [ 1.46094623e-02 -9.40009707e-04 9.99892834e-01 -9.09289573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242414036999996 meters 0.0832053918633432 Centerline is valid? [True, True] Translation: X:59.25, Y:-4.19, Z:-0.91 [[ 9.99813755e-01 1.10139300e-02 -1.58476728e-02 5.92503783e+01] [-1.09954164e-02 9.99938761e-01 1.25488089e-03 -4.19402541e+00] [ 1.58605234e-02 -1.08039541e-03 9.99873630e-01 -9.12053686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302414037 meters 0.08730355645402896 Centerline is valid? [True, True] Translation: X:59.31, Y:-4.21, Z:-0.92 [[ 9.99852401e-01 7.68830683e-03 -1.53644597e-02 5.93088480e+01] [-7.67052407e-03 9.99969842e-01 1.21599127e-03 -4.20759409e+00] [ 1.53733453e-02 -1.09795833e-03 9.99881220e-01 -9.17408458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362414037 meters 0.08367200658756759 Centerline is valid? [True, True] Translation: X:59.37, Y:-4.20, Z:-0.91 [[ 9.99885047e-01 5.88635202e-03 -1.39729532e-02 5.93681416e+01] [-5.87149894e-03 9.99982153e-01 1.10377375e-03 -4.20147974e+00] [ 1.39792010e-02 -1.02160469e-03 9.99901764e-01 -9.12382750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422414036999996 meters 0.08363667689824683 Centerline is valid? [True, True] Translation: X:59.43, Y:-4.20, Z:-0.91 [[ 9.99913103e-01 4.01823546e-03 -1.25554550e-02 5.94263707e+01] [-4.00613474e-03 9.99991487e-01 9.88783900e-04 -4.20394872e+00] [ 1.25593213e-02 -9.38399134e-04 9.99920688e-01 -9.13226040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482414037 meters 0.08621082044450501 Centerline is valid? [True, True] Translation: X:59.49, Y:-4.21, Z:-0.92 [[ 9.99910443e-01 1.26882382e-03 -1.33227306e-02 5.94850705e+01] [-1.25492606e-03 9.99998660e-01 1.05146981e-03 -4.21255693e+00] [ 1.33240468e-02 -1.03465660e-03 9.99910696e-01 -9.17539582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542414037 meters 0.0855747887052606 Centerline is valid? [True, True] Translation: X:59.54, Y:-4.21, Z:-0.92 [[ 9.99900667e-01 1.45855666e-04 -1.40937973e-02 5.95446182e+01] [-1.30211808e-04 9.99999374e-01 1.11089301e-03 -4.21104454e+00] [ 1.40939505e-02 -1.10894748e-03 9.99900060e-01 -9.16851815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602414036999996 meters 0.08694875287241263 Centerline is valid? [True, True] Translation: X:59.60, Y:-4.21, Z:-0.92 [[ 9.99905755e-01 -1.02129793e-03 -1.36907735e-02 5.96033849e+01] [ 1.03615063e-03 9.99998882e-01 1.07781963e-03 -4.21473086e+00] [ 1.36896574e-02 -1.09190376e-03 9.99905696e-01 -9.18659280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662414037 meters 0.08922413800981316 Centerline is valid? [True, True] Translation: X:59.66, Y:-4.22, Z:-0.92 [[ 9.99918195e-01 -1.22980898e-03 -1.27314751e-02 5.96604278e+01] [ 1.24265069e-03 9.99998727e-01 1.00079644e-03 -4.22171091e+00] [ 1.27302281e-02 -1.01653535e-03 9.99918451e-01 -9.21847241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722414037 meters 0.08804847014125983 Centerline is valid? [True, True] Translation: X:59.72, Y:-4.22, Z:-0.92 [[ 9.99913837e-01 -2.51007063e-03 -1.28847703e-02 5.97201914e+01] [ 2.52332125e-03 9.99996304e-01 1.01224008e-03 -4.21743719e+00] [ 1.28821819e-02 -1.04466528e-03 9.99916476e-01 -9.20787946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782414037 meters 0.08919145106267955 Centerline is valid? [True, True] Translation: X:59.78, Y:-4.22, Z:-0.92 [[ 9.99915259e-01 -4.40603970e-03 -1.22499751e-02 5.97798662e+01] [ 4.41816151e-03 9.99989777e-01 9.62651540e-04 -4.22186948e+00] [ 1.22456084e-02 -1.01669233e-03 9.99924503e-01 -9.22532066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842414037 meters 0.09133530438837854 Centerline is valid? [True, True] Translation: X:59.84, Y:-4.23, Z:-0.92 [[ 9.99899246e-01 -9.03453543e-03 -1.09487485e-02 5.98394451e+01] [ 9.04449538e-03 9.99958727e-01 8.60514983e-04 -4.22789716e+00] [ 1.09405222e-02 -9.59454188e-04 9.99939690e-01 -9.23985511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902414037 meters 0.09426384288824083 Centerline is valid? [True, True] Translation: X:59.90, Y:-4.23, Z:-0.92 [[ 9.99888075e-01 -1.16570541e-02 -9.37821535e-03 5.98981894e+01] [ 1.16644692e-02 9.99931697e-01 7.36366642e-04 -4.23421317e+00] [ 9.36899092e-03 -8.45676129e-04 9.99955752e-01 -9.24452719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962414037 meters 0.09206517861202658 Centerline is valid? [True, True] Translation: X:59.96, Y:-4.23, Z:-0.92 [[ 9.99837385e-01 -1.55008389e-02 -9.21562914e-03 5.99588261e+01] [ 1.55081628e-02 9.99879479e-01 7.23794157e-04 -4.22784771e+00] [ 9.20329905e-03 -8.66593934e-04 9.99957273e-01 -9.23246793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02241403699999 meters 0.09353604037982288 Centerline is valid? [True, True] Translation: X:60.02, Y:-4.23, Z:-0.93 [[ 9.99828319e-01 -1.60893387e-02 -9.19049986e-03 6.00195768e+01] [ 1.60966596e-02 9.99870179e-01 7.23162864e-04 -4.23456610e+00] [ 9.17767153e-03 -8.70975059e-04 9.99957505e-01 -9.25610900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08241403699999 meters 0.09478105080866583 Centerline is valid? [True, True] Translation: X:60.08, Y:-4.24, Z:-0.93 [[ 9.99819594e-01 -1.69311231e-02 -8.60913224e-03 6.00809718e+01] [ 1.69375809e-02 9.99856319e-01 6.77741523e-04 -4.23993362e+00] [ 8.59642035e-03 -8.23437128e-04 9.99962711e-01 -9.28610643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142414037 meters 0.09567417784152543 Centerline is valid? [True, True] Translation: X:60.14, Y:-4.24, Z:-0.93 [[ 9.99862762e-01 -1.44245690e-02 -8.14794448e-03 6.01411960e+01] [ 1.44302623e-02 9.99895673e-01 6.40383645e-04 -4.23786718e+00] [ 8.13785717e-03 -7.57872736e-04 9.99966600e-01 -9.28868419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202414037 meters 0.08918928020252027 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.22, Z:-0.93 [[ 9.99924141e-01 -9.86276854e-03 -7.37822639e-03 6.02032266e+01] [ 9.86731878e-03 9.99951148e-01 5.80562343e-04 -4.22331437e+00] [ 7.37214000e-03 -6.53321614e-04 9.99972612e-01 -9.26676895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26241403699999 meters 0.09219950803991528 Centerline is valid? [True, True] Translation: X:60.26, Y:-4.23, Z:-0.93 [[ 9.99948200e-01 -7.47765160e-03 -6.90525542e-03 6.02624730e+01] [ 7.48157677e-03 9.99971865e-01 5.42776442e-04 -4.23131421e+00] [ 6.90100245e-03 -5.94410524e-04 9.99976011e-01 -9.29554468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32241403699999 meters 0.08801774426537344 Centerline is valid? [True, True] Translation: X:60.32, Y:-4.22, Z:-0.93 [[ 9.99969733e-01 -4.19150882e-03 -6.55474208e-03 6.03243021e+01] [ 4.19497632e-03 9.99991068e-01 5.15347264e-04 -4.22071991e+00] [ 6.55252345e-03 -5.42828654e-04 9.99978385e-01 -9.29374518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38241403699999 meters 0.08808816122025655 Centerline is valid? [True, True] Translation: X:60.38, Y:-4.22, Z:-0.93 [[ 9.99957357e-01 -3.25854448e-03 -8.64095961e-03 6.03826768e+01] [ 3.26447656e-03 9.99994445e-01 6.72491225e-04 -4.22172469e+00] [ 8.63872027e-03 -7.00670758e-04 9.99962440e-01 -9.32469177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44241403699999 meters 0.08677438378249701 Centerline is valid? [True, True] Translation: X:60.44, Y:-4.22, Z:-0.93 [[ 9.99956854e-01 -3.51209741e-03 -8.59970808e-03 6.04414008e+01] [ 3.51795464e-03 9.99993590e-01 6.66064997e-04 -4.21839861e+00] [ 8.59731367e-03 -6.96289642e-04 9.99962800e-01 -9.33664421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502414037 meters 0.08710316713939392 Centerline is valid? [True, True] Translation: X:60.50, Y:-4.22, Z:-0.93 [[ 9.99975751e-01 -5.57381285e-03 -4.17490975e-03 6.05003063e+01] [ 5.57521553e-03 9.99984406e-01 3.24415112e-04 -4.21886444e+00] [ 4.17303642e-03 -3.47683267e-04 9.99991232e-01 -9.31048026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562414037 meters 0.08926179344303341 Centerline is valid? [True, True] Translation: X:60.56, Y:-4.22, Z:-0.93 [[ 9.99960986e-01 -7.87578990e-03 -3.99980659e-03 6.05599282e+01] [ 7.87710834e-03 9.99968926e-01 3.13979176e-04 -4.22497861e+00] [ 3.99720946e-03 -3.45473836e-04 9.99991951e-01 -9.32713925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622414037 meters 0.0906313769040597 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.23, Z:-0.93 [[ 9.99921916e-01 -1.15371215e-02 -4.80177294e-03 6.06209802e+01] [ 1.15390580e-02 9.99933352e-01 3.75780376e-04 -4.22934520e+00] [ 4.79711749e-03 -4.31158970e-04 9.99988401e-01 -9.34020636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68241403699999 meters 0.09285149298760026 Centerline is valid? [True, True] Translation: X:60.68, Y:-4.24, Z:-0.94 [[ 9.99890740e-01 -1.41770313e-02 -4.18567540e-03 6.06810690e+01] [ 1.41785242e-02 9.99899426e-01 3.27218211e-04 -4.23668078e+00] [ 4.18061545e-03 -3.86529159e-04 9.99991186e-01 -9.35316262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74241403699999 meters 0.09633251610272567 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.24, Z:-0.94 [[ 9.99834421e-01 -1.69688624e-02 -6.57185080e-03 6.07395285e+01] [ 1.69725960e-02 9.99855824e-01 5.12769363e-04 -4.24497029e+00] [ 6.56220218e-03 -6.24225827e-04 9.99978274e-01 -9.40245730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80241403699999 meters 0.09825902549373952 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.25, Z:-0.95 [[ 9.99821938e-01 -1.69302524e-02 -8.33419709e-03 6.08009096e+01] [ 1.69362743e-02 9.99856358e-01 6.52508269e-04 -4.25169779e+00] [ 8.32195282e-03 -7.93542330e-04 9.99965057e-01 -9.45619205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862414037 meters 0.095534018629549 Centerline is valid? [True, True] Translation: X:60.86, Y:-4.25, Z:-0.94 [[ 9.99886484e-01 -1.43764912e-02 -4.50947089e-03 6.08624200e+01] [ 1.43782278e-02 9.99896566e-01 3.52904727e-04 -4.24744084e+00] [ 4.50393093e-03 -4.17702867e-04 9.99989770e-01 -9.44466942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922414037 meters 0.09148054678124454 Centerline is valid? [True, True] Translation: X:60.92, Y:-4.24, Z:-0.94 [[ 9.99923593e-01 -1.21430547e-02 -2.31392238e-03 6.09239258e+01] [ 1.21435058e-02 9.99926249e-01 1.81006622e-04 -4.24192921e+00] [ 2.31155375e-03 -2.09091921e-04 9.99997306e-01 -9.43040544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982414037 meters 0.09265082392882933 Centerline is valid? [True, True] Translation: X:60.99, Y:-4.25, Z:-0.94 [[ 9.99935709e-01 -1.08717153e-02 -3.22225732e-03 6.09851510e+01] [ 1.08725858e-02 9.99940860e-01 2.52757791e-04 -4.24719667e+00] [ 3.21931884e-03 -2.87775810e-04 9.99994777e-01 -9.44913704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04241403699999 meters 0.09247907403538096 Centerline is valid? [True, True] Translation: X:61.05, Y:-4.25, Z:-0.95 [[ 9.99947708e-01 -9.68575801e-03 -3.28122639e-03 6.10462443e+01] [ 9.68665464e-03 9.99953050e-01 2.57478671e-04 -4.25002927e+00] [ 3.27857846e-03 -2.89249314e-04 9.99994584e-01 -9.45461013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10241403699999 meters 0.0909073832971364 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.25, Z:-0.95 [[ 9.99948693e-01 -9.47810225e-03 -3.57455081e-03 6.11085933e+01] [ 9.47916826e-03 9.99955032e-01 2.81398385e-04 -4.25067181e+00] [ 3.57172295e-03 -3.15267715e-04 9.99993572e-01 -9.45446422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16241403699999 meters 0.0917738526261925 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.26, Z:-0.95 [[ 9.99949679e-01 -9.03431796e-03 -4.36116584e-03 6.11709410e+01] [ 9.03590048e-03 9.99959116e-01 3.43298939e-04 -4.25668887e+00] [ 4.35788607e-03 -3.82688724e-04 9.99990431e-01 -9.48470586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222414037 meters 0.09179564907224638 Centerline is valid? [True, True] Translation: X:61.23, Y:-4.26, Z:-0.95 [[ 9.99931564e-01 -9.68477414e-03 -6.56290435e-03 6.12319935e+01] [ 9.68836397e-03 9.99952934e-01 5.15416412e-04 -4.26151562e+00] [ 6.55760377e-03 -5.78964945e-04 9.99978331e-01 -9.52016248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282414037 meters 0.09626172442475586 Centerline is valid? [True, True] Translation: X:61.29, Y:-4.28, Z:-0.95 [[ 9.99945350e-01 -9.70955415e-03 -3.87589142e-03 6.12910884e+01] [ 9.71080634e-03 9.99952803e-01 3.04384673e-04 -4.27589501e+00] [ 3.87275305e-03 -3.42006070e-04 9.99992442e-01 -9.53818237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342414037 meters 0.08973057137327761 Centerline is valid? [True, True] Translation: X:61.35, Y:-4.27, Z:-0.95 [[ 9.99955629e-01 -9.13649105e-03 -2.29467974e-03 6.13539799e+01] [ 9.13693074e-03 9.99958241e-01 1.81200747e-04 -4.26693533e+00] [ 2.29292837e-03 -2.02159037e-04 9.99997351e-01 -9.49702452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40241403699999 meters 0.09012582721705788 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.27, Z:-0.95 [[ 9.99966254e-01 -8.13435720e-03 -1.15001262e-03 6.14153476e+01] [ 8.13446764e-03 9.99966910e-01 9.13940948e-05 -4.27327861e+00] [ 1.14923114e-03 -1.00745751e-04 9.99999335e-01 -9.50405138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46241403699999 meters 0.09491653343421148 Centerline is valid? [True, True] Translation: X:61.47, Y:-4.29, Z:-0.96 [[ 9.99977038e-01 -6.13626844e-03 -2.87561729e-03 6.14744441e+01] [ 6.13694432e-03 9.99981143e-01 2.26273603e-04 -4.28809566e+00] [ 2.87417459e-03 -2.43915910e-04 9.99995840e-01 -9.57155533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52241403699999 meters 0.09080806744571845 Centerline is valid? [True, True] Translation: X:61.54, Y:-4.28, Z:-0.96 [[ 9.99980084e-01 -4.44166129e-03 -4.48365295e-03 6.15359823e+01] [ 4.44328531e-03 9.99990066e-01 3.52314063e-04 -4.28418315e+00] [ 4.48204355e-03 -3.72229195e-04 9.99989886e-01 -9.58188214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58241403699999 meters 0.09102479797757212 Centerline is valid? [True, True] Translation: X:61.59, Y:-4.29, Z:-0.96 [[ 9.99994740e-01 -1.43248863e-03 -2.90995156e-03 6.15949142e+01] [ 1.43315864e-03 9.99998947e-01 2.28177939e-04 -4.28903912e+00] [ 2.90962164e-03 -2.32347161e-04 9.99995740e-01 -9.60866942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642414037 meters 0.09067043561498554 Centerline is valid? [True, True] Translation: X:61.65, Y:-4.29, Z:-0.96 [[ 9.99996790e-01 -5.34995229e-04 -2.47681629e-03 6.16544314e+01] [ 5.35476855e-04 9.99999838e-01 1.93794560e-04 -4.29437178e+00] [ 2.47671221e-03 -1.95120215e-04 9.99996914e-01 -9.60977483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702414037 meters 0.08730612116056687 Centerline is valid? [True, True] Translation: X:61.71, Y:-4.29, Z:-0.96 [[ 9.99999618e-01 8.27851640e-04 2.79916808e-04 6.17149057e+01] [-8.27845424e-04 9.99999657e-01 -2.23232890e-05 -4.29258914e+00] [-2.79935193e-04 2.20915526e-05 9.99999961e-01 -9.58539027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76241403699999 meters 0.08673436868958713 Centerline is valid? [True, True] Translation: X:61.77, Y:-4.30, Z:-0.96 [[ 9.99997253e-01 2.25152432e-03 -6.51580060e-04 6.17748525e+01] [-2.25149170e-03 9.99997464e-01 5.07877770e-05 -4.29635196e+00] [ 6.51692757e-04 -4.93206104e-05 9.99999786e-01 -9.59961232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82241403699999 meters 0.08691681189390779 Centerline is valid? [True, True] Translation: X:61.83, Y:-4.30, Z:-0.96 [[ 9.99990759e-01 3.43281212e-03 -2.58789321e-03 6.18340774e+01] [-3.43229996e-03 9.99994089e-01 2.02321295e-04 -4.30231984e+00] [ 2.58857244e-03 -1.93437000e-04 9.99996631e-01 -9.62948262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88241403699999 meters 0.08600000025353284 Centerline is valid? [True, True] Translation: X:61.89, Y:-4.31, Z:-0.96 [[ 9.99991450e-01 3.22054919e-03 -2.59397205e-03 6.18927739e+01] [-3.22003622e-03 9.99994795e-01 2.01906423e-04 -4.30564846e+00] [ 2.59460880e-03 -1.93552013e-04 9.99996615e-01 -9.63683536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94241403699999 meters 0.08851840624730502 Centerline is valid? [True, True] Translation: X:61.95, Y:-4.32, Z:-0.97 [[ 9.99987356e-01 3.80676643e-03 -3.28571196e-03 6.19497030e+01] [-3.80594728e-03 9.99992725e-01 2.55525233e-04 -4.31789508e+00] [ 3.28666078e-03 -2.43016756e-04 9.99994569e-01 -9.67031578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002414037 meters 0.0853772575411201 Centerline is valid? [True, True] Translation: X:62.01, Y:-4.32, Z:-0.97 [[ 9.99973335e-01 5.49002540e-03 -4.81541514e-03 6.20090979e+01] [-5.48828148e-03 9.99984869e-01 3.75292544e-04 -4.31582214e+00] [ 4.81740264e-03 -3.48854184e-04 9.99988335e-01 -9.67839696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062414037 meters 0.08495172047882003 Centerline is valid? [True, True] Translation: X:62.07, Y:-4.32, Z:-0.97 [[ 9.99960605e-01 7.99863335e-03 -3.84851882e-03 6.20693044e+01] [-7.99753520e-03 9.99967974e-01 3.00649334e-04 -4.32018774e+00] [ 3.85080035e-03 -2.69858825e-04 9.99992549e-01 -9.68733487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.122414037 meters 0.08311291831775787 Centerline is valid? [True, True] Translation: X:62.13, Y:-4.32, Z:-0.97 [[ 9.99937445e-01 1.09781606e-02 -2.14174600e-03 6.21298923e+01] [-1.09778271e-02 9.99939728e-01 1.67423340e-04 -4.32192739e+00] [ 2.14345491e-03 -1.43901150e-04 9.99997692e-01 -9.67433880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18241403699999 meters 0.0827160062603391 Centerline is valid? [True, True] Translation: X:62.19, Y:-4.33, Z:-0.97 [[ 9.99914978e-01 1.29710204e-02 -1.33761834e-03 6.21891289e+01] [-1.29708930e-02 9.99915869e-01 1.03858459e-04 -4.32671270e+00] [ 1.33885296e-03 -8.64995245e-05 9.99999100e-01 -9.68931468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24241403699999 meters 0.0820948352787657 Centerline is valid? [True, True] Translation: X:62.25, Y:-4.33, Z:-0.97 [[ 9.99897363e-01 1.43256778e-02 1.94302887e-04 6.22491803e+01] [-1.43256749e-02 9.99897382e-01 -1.62144883e-05 -4.33024200e+00] [-1.94515231e-04 1.34293041e-05 9.99999981e-01 -9.68522202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30241403699999 meters 0.08358385834214528 Centerline is valid? [True, True] Translation: X:62.31, Y:-4.34, Z:-0.97 [[ 9.99872526e-01 1.57673572e-02 -2.51425540e-03 6.23069484e+01] [-1.57669169e-02 9.99875675e-01 1.94860062e-04 -4.33870702e+00] [ 2.51701524e-03 -1.55193167e-04 9.99996820e-01 -9.71793919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362414037 meters 0.08307528336135386 Centerline is valid? [True, True] Translation: X:62.37, Y:-4.34, Z:-0.97 [[ 9.99857189e-01 1.62746872e-02 -4.55370073e-03 6.23660592e+01] [-1.62732441e-02 9.99867519e-01 3.53766549e-04 -4.34226576e+00] [ 4.55885489e-03 -2.79612543e-04 9.99989569e-01 -9.74826348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422414037 meters 0.08286371620046915 Centerline is valid? [True, True] Translation: X:62.43, Y:-4.35, Z:-0.98 [[ 9.99818232e-01 1.84365897e-02 -4.85758074e-03 6.24252145e+01] [-1.84349700e-02 9.99829990e-01 3.78002261e-04 -4.34785019e+00] [ 4.86372397e-03 -2.88384197e-04 9.99988130e-01 -9.78344218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.482414037 meters 0.08088193673576809 Centerline is valid? [True, True] Translation: X:62.48, Y:-4.35, Z:-0.98 [[ 9.99790810e-01 2.00996841e-02 -3.78665634e-03 6.24848566e+01] [-2.00987129e-02 9.99797957e-01 2.94364470e-04 -4.34805311e+00] [ 3.79180790e-03 -2.18195974e-04 9.99992787e-01 -9.75946717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54241403699999 meters 0.0821503573247987 Centerline is valid? [True, True] Translation: X:62.54, Y:-4.36, Z:-0.98 [[ 9.99761150e-01 2.16979643e-02 -2.61568934e-03 6.25431264e+01] [-2.16975081e-02 9.99764561e-01 2.02653510e-04 -4.35738134e+00] [ 2.61947067e-03 -1.45851165e-04 9.99996559e-01 -9.78052316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60241403699999 meters 0.08051592029946589 Centerline is valid? [True, True] Translation: X:62.60, Y:-4.36, Z:-0.98 [[ 9.99728930e-01 2.30972096e-02 -2.93000062e-03 6.26021537e+01] [-2.30966445e-02 9.99733211e-01 2.26571931e-04 -4.36031672e+00] [ 2.93445211e-03 -1.58837331e-04 9.99995682e-01 -9.78204572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66241403699999 meters 0.08257365831888223 Centerline is valid? [True, True] Translation: X:62.66, Y:-4.37, Z:-0.98 [[ 9.99773136e-01 2.10308679e-02 -3.37343809e-03 6.26596220e+01] [-2.10301071e-02 9.99778809e-01 2.60870140e-04 -4.37173998e+00] [ 3.37817824e-03 -1.89867193e-04 9.99994276e-01 -9.81484347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722414037 meters 0.08142886050225027 Centerline is valid? [True, True] Translation: X:62.72, Y:-4.38, Z:-0.98 [[ 9.99830927e-01 1.79423948e-02 -4.02338640e-03 6.27197942e+01] [-1.79412826e-02 9.99838993e-01 3.12352571e-04 -4.37580225e+00] [ 4.02834296e-03 -2.40115049e-04 9.99991857e-01 -9.80814160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782414037 meters 0.08358435196536732 Centerline is valid? [True, True] Translation: X:62.78, Y:-4.39, Z:-0.98 [[ 9.99904460e-01 1.27662597e-02 -5.30040642e-03 6.27782684e+01] [-1.27642567e-02 9.99918449e-01 4.11544372e-04 -4.38864857e+00] [ 5.30522805e-03 -3.43849305e-04 9.99985868e-01 -9.84424887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842414037 meters 0.08351164344141075 Centerline is valid? [True, True] Translation: X:62.84, Y:-4.40, Z:-0.99 [[ 9.99920839e-01 1.05785587e-02 -6.81241512e-03 6.28384651e+01] [-1.05751966e-02 9.99943941e-01 5.29366932e-04 -4.39502967e+00] [ 6.81763316e-03 -4.57282398e-04 9.99976655e-01 -9.86381271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90241403699999 meters 0.08370194557460979 Centerline is valid? [True, True] Translation: X:62.90, Y:-4.40, Z:-0.99 [[ 9.99920070e-01 9.83252920e-03 -7.94831660e-03 6.28969023e+01] [-9.82794435e-03 9.99951515e-01 6.15687351e-04 -4.39992290e+00] [ 7.95398499e-03 -5.37522526e-04 9.99968222e-01 -9.87186732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96241403699999 meters 0.08413071414079977 Centerline is valid? [True, True] Translation: X:62.95, Y:-4.41, Z:-0.99 [[ 9.99939425e-01 9.07426563e-03 -6.22928651e-03 6.29542481e+01] [-9.07144513e-03 9.99958738e-01 4.80886403e-04 -4.40520003e+00] [ 6.23339317e-03 -4.24348642e-04 9.99980482e-01 -9.87690605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02241403699999 meters 0.08437420503600403 Centerline is valid? [True, True] Translation: X:63.01, Y:-4.41, Z:-0.99 [[ 9.99970074e-01 6.51516613e-03 -4.17174645e-03 6.30136469e+01] [-6.51387665e-03 9.99978732e-01 3.22610568e-04 -4.41178506e+00] [ 4.17375959e-03 -2.95426672e-04 9.99991246e-01 -9.86954396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08241403699999 meters 0.08583816151968786 Centerline is valid? [True, True] Translation: X:63.07, Y:-4.42, Z:-0.99 [[ 9.99977064e-01 4.57265192e-03 -4.99623879e-03 6.30730026e+01] [-4.57077618e-03 9.99989479e-01 3.86785007e-04 -4.42061316e+00] [ 4.99795486e-03 -3.63939446e-04 9.99987444e-01 -9.89419908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142414037 meters 0.08611983534060524 Centerline is valid? [True, True] Translation: X:63.13, Y:-4.43, Z:-0.99 [[ 9.99973624e-01 1.84106880e-03 -7.02581430e-03 6.31329398e+01] [-1.83728971e-03 9.99998164e-01 5.44302296e-04 -4.42778967e+00] [ 7.02680350e-03 -5.31379483e-04 9.99975171e-01 -9.91939363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202414037 meters 0.09106415741255731 Centerline is valid? [True, True] Translation: X:63.19, Y:-4.44, Z:-1.00 [[ 9.99979010e-01 5.34504298e-04 -6.45702392e-03 6.31899226e+01] [-5.31299531e-04 9.99999735e-01 4.98027689e-04 -4.44361027e+00] [ 6.45728840e-03 -4.94586622e-04 9.99979029e-01 -9.95918694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26241403699999 meters 0.09223824583873291 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.45, Z:-1.00 [[ 9.99988124e-01 -2.56441056e-04 -4.86688619e-03 6.32486938e+01] [ 2.58269542e-04 9.99999896e-01 3.75074473e-04 -4.45060353e+00] [ 4.86678950e-03 -3.76326987e-04 9.99988086e-01 -9.97140167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32241403699999 meters 0.08748687140722994 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.45, Z:-1.00 [[ 9.99985603e-01 -1.39842159e-03 -5.18062355e-03 6.33086992e+01] [ 1.40051133e-03 9.99998939e-01 3.99770003e-04 -4.44726427e+00] [ 5.18005901e-03 -4.07019769e-04 9.99986501e-01 -9.95223570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38241403699999 meters 0.08922151892681872 Centerline is valid? [True, True] Translation: X:63.37, Y:-4.46, Z:-1.00 [[ 9.99970968e-01 -2.14272110e-03 -7.31250050e-03 6.33664387e+01] [ 2.14689803e-03 9.99997537e-01 5.63402603e-04 -4.45650370e+00] [ 7.31127527e-03 -5.79085439e-04 9.99973105e-01 -1.00007418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44241403699999 meters 0.08625207510912819 Centerline is valid? [True, True] Translation: X:63.43, Y:-4.45, Z:-1.00 [[ 9.99953583e-01 -9.76092873e-04 -9.58540054e-03 6.34261839e+01] [ 9.83169483e-04 9.99999248e-01 7.33585218e-04 -4.45301577e+00] [ 9.58467729e-03 -7.42975240e-04 9.99953790e-01 -1.00070598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502414037 meters 0.08417167942470408 Centerline is valid? [True, True] Translation: X:63.49, Y:-4.45, Z:-1.00 [[ 9.99968361e-01 2.09289231e-03 -7.67441283e-03 6.34875134e+01] [-2.08841452e-03 9.99997644e-01 5.91436718e-04 -4.45107805e+00] [ 7.67563257e-03 -5.75390650e-04 9.99970376e-01 -9.99657672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562414037 meters 0.0835671557057443 Centerline is valid? [True, True] Translation: X:63.55, Y:-4.45, Z:-1.00 [[ 9.99946870e-01 8.03849146e-03 -6.45295623e-03 6.35472529e+01] [-8.03545340e-03 9.99967592e-01 4.96589569e-04 -4.45326760e+00] [ 6.45673893e-03 -4.44710756e-04 9.99979056e-01 -1.00078012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.622414037 meters 0.08230668571857586 Centerline is valid? [True, True] Translation: X:63.61, Y:-4.45, Z:-1.00 [[ 9.99907085e-01 1.17356398e-02 -6.93520822e-03 6.36077609e+01] [-1.17322173e-02 9.99931033e-01 5.33963474e-04 -4.45166292e+00] [ 6.94099632e-03 -4.52548491e-04 9.99975809e-01 -1.00233132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68241403699999 meters 0.08205570708640095 Centerline is valid? [True, True] Translation: X:63.67, Y:-4.45, Z:-1.00 [[ 9.99841966e-01 1.65777061e-02 -6.42044695e-03 6.36674297e+01] [-1.65748752e-02 9.99862505e-01 4.93875253e-04 -4.45220789e+00] [ 6.42775150e-03 -3.87379097e-04 9.99979267e-01 -1.00414098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74241403699999 meters 0.0809202853826036 Centerline is valid? [True, True] Translation: X:63.73, Y:-4.45, Z:-1.00 [[ 9.99797415e-01 1.93845431e-02 -5.41935647e-03 6.37277654e+01] [-1.93825678e-02 9.99812054e-01 4.16771798e-04 -4.45316173e+00] [ 5.42641685e-03 -3.11646321e-04 9.99985228e-01 -1.00386769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80241403699999 meters 0.08026920287649979 Centerline is valid? [True, True] Translation: X:63.79, Y:-4.46, Z:-1.00 [[ 9.99769901e-01 2.10045862e-02 -4.35335187e-03 6.37881230e+01] [-2.10033275e-02 9.99779350e-01 3.34648475e-04 -4.45540067e+00] [ 4.35942046e-03 -2.43136598e-04 9.99990468e-01 -1.00360754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862414037 meters 0.0793096547091372 Centerline is valid? [True, True] Translation: X:63.85, Y:-4.45, Z:-1.01 [[ 9.99660304e-01 2.54417524e-02 -5.65635734e-03 6.38480865e+01] [-2.54397008e-02 9.99676264e-01 4.34379015e-04 -4.45333932e+00] [ 5.66557754e-03 -2.90335420e-04 9.99983908e-01 -1.00630847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922414037 meters 0.0785231635611452 Centerline is valid? [True, True] Translation: X:63.91, Y:-4.45, Z:-1.01 [[ 9.99565877e-01 2.85599321e-02 -7.23787806e-03 6.39075620e+01] [-2.85566547e-02 9.99592021e-01 5.55780705e-04 -4.45349965e+00] [ 7.25079821e-03 -3.48849844e-04 9.99973652e-01 -1.00895345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.982414037 meters 0.07734423937599322 Centerline is valid? [True, True] Translation: X:63.97, Y:-4.45, Z:-1.01 [[ 9.99388169e-01 3.46530441e-02 -4.73864398e-03 6.39678000e+01] [-3.46517085e-02 9.99399383e-01 3.63677777e-04 -4.45343860e+00] [ 4.74840041e-03 -1.99253158e-04 9.99988706e-01 -1.00894664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04241403699999 meters 0.07644645339576253 Centerline is valid? [True, True] Translation: X:64.03, Y:-4.45, Z:-1.01 [[ 9.99292441e-01 3.74237936e-02 -3.75193193e-03 6.40276968e+01] [-3.74229774e-02 9.99299474e-01 2.87540199e-04 -4.45216125e+00] [ 3.76006445e-03 -1.46928283e-04 9.99992920e-01 -1.00677963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10241403699999 meters 0.07672097689881144 Centerline is valid? [True, True] Translation: X:64.09, Y:-4.46, Z:-1.01 [[ 9.99278440e-01 3.78896695e-02 -2.64056177e-03 6.40860529e+01] [-3.78892697e-02 9.99281924e-01 2.01290781e-04 -4.45594836e+00] [ 2.64629249e-03 -1.01096581e-04 9.99996493e-01 -1.00629032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16241403699999 meters 0.07695328691610112 Centerline is valid? [True, True] Translation: X:64.15, Y:-4.47, Z:-1.01 [[ 9.99353982e-01 3.56442967e-02 -4.59380652e-03 6.41453243e+01] [-3.56430557e-02 9.99364523e-01 3.51750627e-04 -4.46540105e+00] [ 4.60342516e-03 -1.87786088e-04 9.99989387e-01 -1.01011635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222414037 meters 0.07769724654097154 Centerline is valid? [True, True] Translation: X:64.20, Y:-4.47, Z:-1.01 [[ 9.99385312e-01 3.42104845e-02 -7.65776704e-03 6.42035972e+01] [-3.42070008e-02 9.99414598e-01 5.85477324e-04 -4.47397862e+00] [ 7.67331363e-03 -3.23168194e-04 9.99970507e-01 -1.01441456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282414037 meters 0.07693438837359158 Centerline is valid? [True, True] Translation: X:64.26, Y:-4.47, Z:-1.01 [[ 9.99246761e-01 3.81862031e-02 -6.90832438e-03 6.42638028e+01] [-3.81834602e-02 9.99270606e-01 5.28545173e-04 -4.47493144e+00] [ 6.92346862e-03 -2.64363323e-04 9.99975998e-01 -1.01417181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342414037 meters 0.07583903427338419 Centerline is valid? [True, True] Translation: X:64.32, Y:-4.48, Z:-1.01 [[ 9.99076725e-01 4.24946241e-02 -6.31699918e-03 6.43232739e+01] [-4.24924182e-02 9.99096673e-01 4.83058610e-04 -4.47770019e+00] [ 6.33182025e-03 -2.14188043e-04 9.99979931e-01 -1.01391026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40241403699999 meters 0.07514915080725436 Centerline is valid? [True, True] Translation: X:64.38, Y:-4.48, Z:-1.01 [[ 9.98817612e-01 4.83598365e-02 -4.97041275e-03 6.43833726e+01] [-4.83585434e-02 9.98829969e-01 3.80076724e-04 -4.48170431e+00] [ 4.98297766e-03 -1.39265405e-04 9.99987575e-01 -1.01474026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46241403699999 meters 0.07473651361815013 Centerline is valid? [True, True] Translation: X:64.44, Y:-4.48, Z:-1.01 [[ 9.98696852e-01 5.09316744e-02 -3.24995709e-03 6.44426348e+01] [-5.09311512e-02 9.98702137e-01 2.43606731e-04 -4.48456367e+00] [ 3.25814639e-03 -7.77652200e-05 9.99994689e-01 -1.01401269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52241403699999 meters 0.07468967166099243 Centerline is valid? [True, True] Translation: X:64.50, Y:-4.49, Z:-1.02 [[ 9.98644412e-01 5.18666961e-02 -4.37989329e-03 6.45002087e+01] [-5.18657578e-02 9.98654012e-01 3.27607481e-04 -4.49249850e+00] [ 4.39098993e-03 -9.99968960e-05 9.99990355e-01 -1.01714540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58241403699999 meters 0.07492118902694048 Centerline is valid? [True, True] Translation: X:64.56, Y:-4.50, Z:-1.02 [[ 9.98759408e-01 4.93979353e-02 -6.28399064e-03 6.45590079e+01] [-4.93959133e-02 9.98779163e-01 4.76657599e-04 -4.50158169e+00] [ 6.29986481e-03 -1.65662805e-04 9.99980142e-01 -1.01966431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642414037 meters 0.07542494229647669 Centerline is valid? [True, True] Translation: X:64.62, Y:-4.51, Z:-1.02 [[ 9.99020854e-01 4.38331483e-02 -5.99904873e-03 6.46176532e+01] [-4.38312073e-02 9.99038847e-01 4.54693841e-04 -4.51367348e+00] [ 6.01321339e-03 -1.91303081e-04 9.99981902e-01 -1.02068854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702414037 meters 0.07602928668397375 Centerline is valid? [True, True] Translation: X:64.68, Y:-4.53, Z:-1.02 [[ 9.99170141e-01 4.03252389e-02 -5.73618284e-03 6.46754113e+01] [-4.03234085e-02 9.99186586e-01 4.34438193e-04 -4.52594594e+00] [ 5.74903578e-03 -2.02775227e-04 9.99983454e-01 -1.02188008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76241403699999 meters 0.07662355643400708 Centerline is valid? [True, True] Translation: X:64.73, Y:-4.54, Z:-1.02 [[ 9.99454601e-01 3.22425956e-02 -7.13548180e-03 6.47349776e+01] [-3.22395480e-02 9.99480024e-01 5.41753036e-04 -4.54126159e+00] [ 7.14923904e-03 -3.11412856e-04 9.99974395e-01 -1.02461183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82241403699999 meters 0.07760940461812223 Centerline is valid? [True, True] Translation: X:64.79, Y:-4.55, Z:-1.03 [[ 9.99601840e-01 2.75139397e-02 -6.25650577e-03 6.47940482e+01] [-2.75115073e-02 9.99621374e-01 4.74531266e-04 -4.55355441e+00] [ 6.26719312e-03 -3.02216423e-04 9.99980315e-01 -1.02534798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88241403699999 meters 0.07965210815569962 Centerline is valid? [True, True] Translation: X:64.85, Y:-4.57, Z:-1.03 [[ 9.99772942e-01 2.06384803e-02 -5.30255925e-03 6.48526348e+01] [-2.06366373e-02 9.99786961e-01 4.02047050e-04 -4.57043912e+00] [ 5.30972723e-03 -2.92528770e-04 9.99985861e-01 -1.02602860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94241403699999 meters 0.08159029703981388 Centerline is valid? [True, True] Translation: X:64.91, Y:-4.58, Z:-1.03 [[ 9.99843828e-01 1.67966901e-02 -5.49456306e-03 6.49105263e+01] [-1.67946563e-02 9.99858873e-01 4.16084756e-04 -4.58423746e+00] [ 5.50077647e-03 -3.23740477e-04 9.99984818e-01 -1.02921117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002414037 meters 0.08068292515072224 Centerline is valid? [True, True] Translation: X:64.97, Y:-4.59, Z:-1.03 [[ 9.99855129e-01 1.47341447e-02 -8.52209077e-03 6.49706846e+01] [-1.47291725e-02 9.99891311e-01 6.45916952e-04 -4.58948812e+00] [ 8.53068155e-03 -5.20300032e-04 9.99963478e-01 -1.03012030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062414037 meters 0.08113170876663295 Centerline is valid? [True, True] Translation: X:65.03, Y:-4.60, Z:-1.03 [[ 9.99832961e-01 1.59593140e-02 -8.90789999e-03 6.50286654e+01] [-1.59539448e-02 9.99872501e-01 6.73492953e-04 -4.59600609e+00] [ 8.91751273e-03 -5.31264309e-04 9.99960097e-01 -1.03220327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122414037 meters 0.08074147344246412 Centerline is valid? [True, True] Translation: X:65.09, Y:-4.60, Z:-1.03 [[ 9.99797092e-01 1.81872213e-02 -8.66021071e-03 6.50887967e+01] [-1.81822220e-02 9.99834475e-01 6.55654234e-04 -4.59988219e+00] [ 8.67070175e-03 -4.98059323e-04 9.99962285e-01 -1.03372485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18241403699999 meters 0.08039824888446724 Centerline is valid? [True, True] Translation: X:65.15, Y:-4.60, Z:-1.04 [[ 9.99749280e-01 2.08849397e-02 -8.07437783e-03 6.51487756e+01] [-2.08806830e-02 9.99781788e-01 6.11145676e-04 -4.60342360e+00] [ 8.08537965e-03 -4.42393926e-04 9.99967215e-01 -1.03557594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24241403699999 meters 0.08007374147117881 Centerline is valid? [True, True] Translation: X:65.21, Y:-4.61, Z:-1.04 [[ 9.99686216e-01 2.40320389e-02 -7.06610324e-03 6.52091518e+01] [-2.40288584e-02 9.99711122e-01 5.34672109e-04 -4.60644732e+00] [ 7.07691126e-03 -3.64713943e-04 9.99974892e-01 -1.03589632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30241403699999 meters 0.07985161761497903 Centerline is valid? [True, True] Translation: X:65.27, Y:-4.61, Z:-1.04 [[ 9.99553595e-01 2.86338156e-02 -8.52734990e-03 6.52678416e+01] [-2.86293553e-02 9.99589888e-01 6.44693883e-04 -4.60849365e+00] [ 8.54231278e-03 -4.00273559e-04 9.99963434e-01 -1.03847045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362414037 meters 0.07891469603497178 Centerline is valid? [True, True] Translation: X:65.33, Y:-4.61, Z:-1.04 [[ 9.99471784e-01 3.11969076e-02 -9.10524538e-03 6.53271948e+01] [-3.11919798e-02 9.99513179e-01 6.82740527e-04 -4.60834052e+00] [ 9.12211215e-03 -3.98369263e-04 9.99958313e-01 -1.03982409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422414037 meters 0.07768205989976078 Centerline is valid? [True, True] Translation: X:65.39, Y:-4.61, Z:-1.04 [[ 9.99380422e-01 3.39035883e-02 -9.45089528e-03 6.53867896e+01] [-3.38983879e-02 9.99425032e-01 7.09949149e-04 -4.60607552e+00] [ 9.46953114e-03 -3.89139166e-04 9.99955087e-01 -1.03943229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482414037 meters 0.07763611115767562 Centerline is valid? [True, True] Translation: X:65.45, Y:-4.61, Z:-1.04 [[ 9.99366452e-01 3.46191999e-02 -8.25870296e-03 6.54455857e+01] [-3.46152530e-02 9.99400520e-01 6.20403727e-04 -4.60978892e+00] [ 8.27522992e-03 -3.34133579e-04 9.99965704e-01 -1.04078443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54241403699999 meters 0.07779730987115659 Centerline is valid? [True, True] Translation: X:65.50, Y:-4.61, Z:-1.04 [[ 9.99329490e-01 3.55890568e-02 -8.60171028e-03 6.55027050e+01] [-3.55848299e-02 9.99366452e-01 6.44001612e-04 -4.61485963e+00] [ 8.61918009e-03 -3.37479405e-04 9.99962797e-01 -1.04238335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60241403699999 meters 0.07740473529959432 Centerline is valid? [True, True] Translation: X:65.56, Y:-4.62, Z:-1.04 [[ 9.99254979e-01 3.73617399e-02 -9.67409487e-03 6.55617769e+01] [-3.73564681e-02 9.99301740e-01 7.25130047e-04 -4.61691816e+00] [ 9.69443196e-03 -3.63199793e-04 9.99952942e-01 -1.04372975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66241403699999 meters 0.07731449851834023 Centerline is valid? [True, True] Translation: X:65.62, Y:-4.62, Z:-1.05 [[ 9.99222452e-01 3.84252792e-02 -8.83120233e-03 6.56202223e+01] [-3.84209340e-02 9.99261425e-01 6.61229873e-04 -4.62168835e+00] [ 8.85008777e-03 -3.21412693e-04 9.99960786e-01 -1.04615391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722414037 meters 0.07708643236801337 Centerline is valid? [True, True] Translation: X:65.68, Y:-4.63, Z:-1.05 [[ 9.99202204e-01 3.90866106e-02 -8.19715217e-03 6.56786557e+01] [-3.90828946e-02 9.99235784e-01 6.13093021e-04 -4.62577413e+00] [ 8.21485151e-03 -2.92235463e-04 9.99966215e-01 -1.04673363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782414037 meters 0.07662783764172396 Centerline is valid? [True, True] Translation: X:65.74, Y:-4.63, Z:-1.05 [[ 9.99165271e-01 4.02485888e-02 -6.98655519e-03 6.57375124e+01] [-4.02459226e-02 9.99189668e-01 5.21845148e-04 -4.62919715e+00] [ 7.00189729e-03 -2.40229189e-04 9.99975458e-01 -1.04567173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842414037 meters 0.07715447169395027 Centerline is valid? [True, True] Translation: X:65.79, Y:-4.64, Z:-1.05 [[ 9.99207093e-01 3.93479721e-02 -6.07644599e-03 6.57942813e+01] [-3.93459505e-02 9.99225546e-01 4.51931151e-04 -4.63774323e+00] [ 6.08952264e-03 -2.12489268e-04 9.99981436e-01 -1.04767648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90241403699999 meters 0.07797584669242687 Centerline is valid? [True, True] Translation: X:65.85, Y:-4.65, Z:-1.05 [[ 9.99392886e-01 3.40223975e-02 -7.50572771e-03 6.58536793e+01] [-3.40191416e-02 9.99421024e-01 5.61075079e-04 -4.64988899e+00] [ 7.52047119e-03 -3.05396029e-04 9.99971674e-01 -1.05045916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96241403699999 meters 0.07864371729727275 Centerline is valid? [True, True] Translation: X:65.91, Y:-4.66, Z:-1.05 [[ 9.99573179e-01 2.82393396e-02 -7.48329990e-03 6.59136573e+01] [-2.82359420e-02 9.99601130e-01 5.59313876e-04 -4.66144692e+00] [ 7.49610969e-03 -3.47777127e-04 9.99971843e-01 -1.05030367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02241403699999 meters 0.08099310560531886 Centerline is valid? [True, True] Translation: X:65.97, Y:-4.68, Z:-1.05 [[ 9.99696169e-01 2.39810608e-02 -5.69898212e-03 6.59706277e+01] [-2.39790307e-02 9.99712372e-01 4.24306655e-04 -4.67709394e+00] [ 5.70751825e-03 -2.87521670e-04 9.99983671e-01 -1.05394545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08241403699999 meters 0.08021012607837048 Centerline is valid? [True, True] Translation: X:66.03, Y:-4.68, Z:-1.05 [[ 9.99788517e-01 1.96764755e-02 -5.97976972e-03 6.60310145e+01] [-1.96741542e-02 9.99806345e-01 4.46776435e-04 -4.68401697e+00] [ 5.98740269e-03 -3.29035038e-04 9.99982021e-01 -1.05341552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142414037 meters 0.08117313747583786 Centerline is valid? [True, True] Translation: X:66.09, Y:-4.70, Z:-1.06 [[ 9.99867630e-01 1.49256914e-02 -6.47659268e-03 6.60905095e+01] [-1.49228704e-02 9.99888531e-01 4.83669429e-04 -4.69539411e+00] [ 6.48308984e-03 -3.86956053e-04 9.99978910e-01 -1.05560713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202414037 meters 0.07998616906807308 Centerline is valid? [True, True] Translation: X:66.15, Y:-4.70, Z:-1.05 [[ 9.99887491e-01 1.40756418e-02 -5.18482421e-03 6.61494272e+01] [-1.40738318e-02 9.99900884e-01 3.85432092e-04 -4.69744853e+00] [ 5.18973552e-03 -3.12418383e-04 9.99986484e-01 -1.05310401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26241403699999 meters 0.08041860516764239 Centerline is valid? [True, True] Translation: X:66.21, Y:-4.70, Z:-1.06 [[ 9.99872949e-01 1.48364622e-02 -5.82797984e-03 6.62066528e+01] [-1.48341919e-02 9.99889874e-01 4.32574211e-04 -4.70413873e+00] [ 5.83375590e-03 -3.46065880e-04 9.99982924e-01 -1.05590991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32241403699999 meters 0.08116496524445736 Centerline is valid? [True, True] Translation: X:66.26, Y:-4.71, Z:-1.06 [[ 9.99878515e-01 1.45427323e-02 -5.60935593e-03 6.62642536e+01] [-1.45406317e-02 9.99894193e-01 4.15087825e-04 -4.71178894e+00] [ 5.61479894e-03 -3.33473819e-04 9.99984181e-01 -1.05869331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38241403699999 meters 0.08143974805530631 Centerline is valid? [True, True] Translation: X:66.32, Y:-4.72, Z:-1.06 [[ 9.99873965e-01 1.52166198e-02 -4.52853436e-03 6.63218353e+01] [-1.52152586e-02 9.99884185e-01 3.34875010e-04 -4.71633819e+00] [ 4.53310555e-03 -2.65929982e-04 9.99989690e-01 -1.06021701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44241403699999 meters 0.0821881240909882 Centerline is valid? [True, True] Translation: X:66.38, Y:-4.72, Z:-1.06 [[ 9.99865326e-01 1.52386675e-02 -6.09197998e-03 6.63791436e+01] [-1.52362084e-02 9.99883821e-01 4.49872714e-04 -4.72015493e+00] [ 6.09812769e-03 -3.56993451e-04 9.99981343e-01 -1.06288895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502414037 meters 0.08096696933295569 Centerline is valid? [True, True] Translation: X:66.44, Y:-4.72, Z:-1.06 [[ 9.99893500e-01 1.36929578e-02 -5.04881987e-03 6.64384500e+01] [-1.36912485e-02 9.99906201e-01 3.72953672e-04 -4.71961739e+00] [ 5.05345314e-03 -3.03789305e-04 9.99987185e-01 -1.06297771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562414037 meters 0.0816495394254302 Centerline is valid? [True, True] Translation: X:66.50, Y:-4.72, Z:-1.06 [[ 9.99922278e-01 1.16595168e-02 -4.41505484e-03 6.64978507e+01] [-1.16581882e-02 9.99931988e-01 3.26535981e-04 -4.72379342e+00] [ 4.41856181e-03 -2.75039062e-04 9.99990200e-01 -1.06254079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62241403699998 meters 0.08246179469173155 Centerline is valid? [True, True] Translation: X:66.56, Y:-4.73, Z:-1.06 [[ 9.99917396e-01 1.15136786e-02 -5.71275880e-03 6.65550961e+01] [-1.15114594e-02 9.99933652e-01 4.21194894e-04 -4.72863125e+00] [ 5.71722927e-03 -3.55397911e-04 9.99983593e-01 -1.06451860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68241403699999 meters 0.08217855050953397 Centerline is valid? [True, True] Translation: X:66.61, Y:-4.73, Z:-1.07 [[ 9.99912827e-01 1.11470695e-02 -7.07679681e-03 6.66138527e+01] [-1.11436529e-02 9.99937771e-01 5.22038953e-04 -4.73045127e+00] [ 7.08217564e-03 -4.43132078e-04 9.99974823e-01 -1.06648105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74241403699999 meters 0.08097798165948317 Centerline is valid? [True, True] Translation: X:66.67, Y:-4.73, Z:-1.07 [[ 9.99906478e-01 1.12264167e-02 -7.81046113e-03 6.66729631e+01] [-1.12222608e-02 9.99936863e-01 5.75717511e-04 -4.72986878e+00] [ 7.81643125e-03 -4.88012637e-04 9.99969332e-01 -1.06701542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80241403699999 meters 0.08094997361654802 Centerline is valid? [True, True] Translation: X:66.73, Y:-4.73, Z:-1.07 [[ 9.99889986e-01 1.31288592e-02 -6.90278474e-03 6.67331750e+01] [-1.31256527e-02 9.99913725e-01 5.09619970e-04 -4.73197975e+00] [ 6.90887993e-03 -4.18960350e-04 9.99976046e-01 -1.06941582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862414037 meters 0.08129359948085411 Centerline is valid? [True, True] Translation: X:66.79, Y:-4.74, Z:-1.07 [[ 9.99871817e-01 1.45648144e-02 -6.64945922e-03 6.67924404e+01] [-1.45618776e-02 9.99893850e-01 4.89852916e-04 -4.73615888e+00] [ 6.65588800e-03 -3.92961513e-04 9.99977772e-01 -1.07180868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922414037 meters 0.0805759564479345 Centerline is valid? [True, True] Translation: X:66.85, Y:-4.74, Z:-1.07 [[ 9.99804280e-01 1.89070571e-02 -5.82458761e-03 6.68515854e+01] [-1.89048749e-02 9.99821195e-01 4.29494419e-04 -4.73571030e+00] [ 5.83166661e-03 -3.19297258e-04 9.99982945e-01 -1.07258876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.982414037 meters 0.07985662832553206 Centerline is valid? [True, True] Translation: X:66.91, Y:-4.73, Z:-1.07 [[ 9.99719117e-01 2.30699508e-02 -5.42808398e-03 6.69126892e+01] [-2.30681153e-02 9.99733815e-01 4.00529690e-04 -4.73378581e+00] [ 5.43587930e-03 -2.75201521e-04 9.99985188e-01 -1.07293713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04241403699999 meters 0.07989761360313209 Centerline is valid? [True, True] Translation: X:66.97, Y:-4.74, Z:-1.08 [[ 9.99670291e-01 2.49709961e-02 -5.97980732e-03 6.69710948e+01] [-2.49688124e-02 9.99688134e-01 4.39568830e-04 -4.73738291e+00] [ 5.98891889e-03 -2.90115213e-04 9.99982024e-01 -1.07651256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10241403699999 meters 0.07838594749906791 Centerline is valid? [True, True] Translation: X:67.03, Y:-4.73, Z:-1.08 [[ 9.99621588e-01 2.69214717e-02 -5.64930105e-03 6.70304958e+01] [-2.69195567e-02 9.99637517e-01 4.14759897e-04 -4.73480379e+00] [ 5.65841922e-03 -2.62526267e-04 9.99983957e-01 -1.07563712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16241403699999 meters 0.07863284194040242 Centerline is valid? [True, True] Translation: X:67.09, Y:-4.74, Z:-1.08 [[ 9.99580250e-01 2.85389285e-02 -4.98525053e-03 6.70881109e+01] [-2.85374619e-02 9.99592657e-01 3.65087958e-04 -4.73806577e+00] [ 4.99363904e-03 -2.22668316e-04 9.99987507e-01 -1.07688345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222414037 meters 0.07859150427158677 Centerline is valid? [True, True] Translation: X:67.15, Y:-4.74, Z:-1.08 [[ 9.99544406e-01 2.96727429e-02 -5.52351161e-03 6.71456939e+01] [-2.96709611e-02 9.99559638e-01 4.04278202e-04 -4.74240969e+00] [ 5.53307531e-03 -2.40206117e-04 9.99984664e-01 -1.07813061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282414037 meters 0.0778146247671848 Centerline is valid? [True, True] Translation: X:67.20, Y:-4.74, Z:-1.08 [[ 9.99528436e-01 3.00817492e-02 -6.16398129e-03 6.72043915e+01] [-3.00795374e-02 9.99547406e-01 4.51234570e-04 -4.74453676e+00] [ 6.17476544e-03 -2.65612077e-04 9.99980901e-01 -1.07871132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342414037 meters 0.07838255228235398 Centerline is valid? [True, True] Translation: X:67.26, Y:-4.75, Z:-1.08 [[ 9.99550643e-01 2.95003071e-02 -5.31458850e-03 6.72617556e+01] [-2.94986622e-02 9.99564745e-01 3.87648786e-04 -4.75120461e+00] [ 5.32371106e-03 -2.30701342e-04 9.99985802e-01 -1.08006405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40241403699999 meters 0.07891564481805166 Centerline is valid? [True, True] Translation: X:67.32, Y:-4.76, Z:-1.08 [[ 9.99598094e-01 2.77214135e-02 -5.93072966e-03 6.73208846e+01] [-2.77193252e-02 9.99615651e-01 4.34036614e-04 -4.75913249e+00] [ 5.94048231e-03 -2.69466348e-04 9.99982319e-01 -1.08188812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46241403699999 meters 0.07894506744256827 Centerline is valid? [True, True] Translation: X:67.38, Y:-4.77, Z:-1.08 [[ 9.99639924e-01 2.52990376e-02 -8.94318562e-03 6.73802684e+01] [-2.52941875e-02 9.99679836e-01 6.55035262e-04 -4.76626420e+00] [ 8.95689410e-03 -4.28588785e-04 9.99959794e-01 -1.08443980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52241403699999 meters 0.07962607541946257 Centerline is valid? [True, True] Translation: X:67.44, Y:-4.78, Z:-1.09 [[ 9.99710364e-01 2.28887862e-02 -7.43578259e-03 6.74381961e+01] [-2.28853822e-02 9.99737948e-01 5.42553377e-04 -4.77523193e+00] [ 7.44625241e-03 -3.72225507e-04 9.99972207e-01 -1.08553080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58241403699999 meters 0.07991191251445755 Centerline is valid? [True, True] Translation: X:67.50, Y:-4.78, Z:-1.09 [[ 9.99718417e-01 2.21063091e-02 -8.62546343e-03 6.74965077e+01] [-2.21016992e-02 9.99755529e-01 6.29420446e-04 -4.78184185e+00] [ 8.63726893e-03 -4.38605814e-04 9.99962602e-01 -1.08694414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642414037 meters 0.07962353938572486 Centerline is valid? [True, True] Translation: X:67.55, Y:-4.79, Z:-1.09 [[ 9.99725703e-01 2.18615648e-02 -8.40178906e-03 6.75541346e+01] [-2.18571958e-02 9.99760916e-01 6.11492314e-04 -4.78513810e+00] [ 8.41314850e-03 -4.27685035e-04 9.99964517e-01 -1.08771950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702414037 meters 0.07987833085856251 Centerline is valid? [True, True] Translation: X:67.61, Y:-4.79, Z:-1.09 [[ 9.99714800e-01 2.24605521e-02 -8.11431067e-03 6.76121360e+01] [-2.24564958e-02 9.99747647e-01 5.90676980e-04 -4.79301688e+00] [ 8.12552993e-03 -4.08289535e-04 9.99966904e-01 -1.09004474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76241403699999 meters 0.08013033154373596 Centerline is valid? [True, True] Translation: X:67.67, Y:-4.80, Z:-1.09 [[ 9.99713853e-01 2.30002574e-02 -6.57261856e-03 6.76699089e+01] [-2.29976151e-02 9.99735406e-01 4.77328864e-04 -4.79931721e+00] [ 6.58185817e-03 -3.26037727e-04 9.99978286e-01 -1.08987089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82241403699999 meters 0.07876769829604523 Centerline is valid? [True, True] Translation: X:67.73, Y:-4.80, Z:-1.09 [[ 9.99717904e-01 2.24159694e-02 -7.85096751e-03 6.77283364e+01] [-2.24121846e-02 9.99748653e-01 5.69743844e-04 -4.79998939e+00] [ 7.86176555e-03 -3.93625788e-04 9.99969018e-01 -1.08932333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88241403699999 meters 0.079130951004424 Centerline is valid? [True, True] Translation: X:67.79, Y:-4.81, Z:-1.09 [[ 9.99780098e-01 1.92251604e-02 -8.37549063e-03 6.77883659e+01] [-1.92207253e-02 9.99815079e-01 6.09708643e-04 -4.81076052e+00] [ 8.38566357e-03 -4.48591562e-04 9.99964739e-01 -1.09130203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94241403699999 meters 0.08025812970985043 Centerline is valid? [True, True] Translation: X:67.85, Y:-4.82, Z:-1.09 [[ 9.99816968e-01 1.75467126e-02 -7.62521961e-03 6.78455658e+01] [-1.75430064e-02 9.99845957e-01 5.52667711e-04 -4.82015889e+00] [ 7.63374250e-03 -4.18797278e-04 9.99970775e-01 -1.09278843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002414037 meters 0.08135178109176348 Centerline is valid? [True, True] Translation: X:67.90, Y:-4.83, Z:-1.09 [[ 9.99839239e-01 1.60538669e-02 -7.98551972e-03 6.79036105e+01] [-1.60497513e-02 9.99871027e-01 5.79205320e-04 -4.83169818e+00] [ 7.99378828e-03 -4.50946601e-04 9.99967947e-01 -1.09498946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062414037 meters 0.08114849508097144 Centerline is valid? [True, True] Translation: X:67.96, Y:-4.84, Z:-1.10 [[ 9.99835811e-01 1.58997108e-02 -8.69199190e-03 6.79616211e+01] [-1.58948405e-02 9.99873471e-01 6.29112444e-04 -4.83799020e+00] [ 8.70089482e-03 -4.90851325e-04 9.99962026e-01 -1.09726388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12241403699998 meters 0.08091530071749807 Centerline is valid? [True, True] Translation: X:68.02, Y:-4.84, Z:-1.10 [[ 9.99822467e-01 1.56491735e-02 -1.04946424e-02 6.80205917e+01] [-1.56420599e-02 9.99877367e-01 7.59571154e-04 -4.84229849e+00] [ 1.05052421e-02 -5.95278480e-04 9.99944641e-01 -1.09867141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18241403699999 meters 0.08121209404823929 Centerline is valid? [True, True] Translation: X:68.08, Y:-4.85, Z:-1.10 [[ 9.99831728e-01 1.54237865e-02 -9.93088778e-03 6.80787776e+01] [-1.54174129e-02 9.99880887e-01 7.18033324e-04 -4.85005652e+00] [ 9.94077967e-03 -5.64803902e-04 9.99950430e-01 -1.09948703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24241403699999 meters 0.0814418515811094 Centerline is valid? [True, True] Translation: X:68.14, Y:-4.86, Z:-1.10 [[ 9.99848950e-01 1.48395375e-02 -9.04789137e-03 6.81364129e+01] [-1.48342388e-02 9.99889754e-01 6.52459118e-04 -4.85843233e+00] [ 9.05657607e-03 -5.18141983e-04 9.99958854e-01 -1.10077148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30241403699999 meters 0.08087284330508458 Centerline is valid? [True, True] Translation: X:68.19, Y:-4.86, Z:-1.10 [[ 9.99838981e-01 1.57147429e-02 -8.66360049e-03 6.81948835e+01] [-1.57099174e-02 9.99876396e-01 6.24757757e-04 -4.86149454e+00] [ 8.67234755e-03 -4.88552711e-04 9.99962275e-01 -1.10097456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362414037 meters 0.08102546108279768 Centerline is valid? [True, True] Translation: X:68.25, Y:-4.87, Z:-1.10 [[ 9.99796888e-01 1.78201335e-02 -9.41413510e-03 6.82530124e+01] [-1.78145333e-02 9.99841078e-01 6.78397460e-04 -4.86657263e+00] [ 9.42472813e-03 -5.10551246e-04 9.99955456e-01 -1.10298936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422414037 meters 0.08153404109312015 Centerline is valid? [True, True] Translation: X:68.31, Y:-4.87, Z:-1.11 [[ 9.99759038e-01 1.92807840e-02 -1.04936986e-02 6.83105670e+01] [-1.92739280e-02 9.99813956e-01 7.54085776e-04 -4.87401323e+00] [ 1.05062857e-02 -5.51649278e-04 9.99944655e-01 -1.10783824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.482414037 meters 0.08229391457717664 Centerline is valid? [True, True] Translation: X:68.37, Y:-4.88, Z:-1.11 [[ 9.99760153e-01 1.98435472e-02 -9.26666590e-03 6.83675855e+01] [-1.98382276e-02 9.99802981e-01 6.65632783e-04 -4.88246280e+00] [ 9.27804871e-03 -4.81638905e-04 9.99956842e-01 -1.11064267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54241403699999 meters 0.08023151386544264 Centerline is valid? [True, True] Translation: X:68.43, Y:-4.88, Z:-1.11 [[ 9.99723904e-01 2.06318928e-02 -1.12446304e-02 6.84270206e+01] [-2.06241109e-02 9.99786974e-01 8.07584921e-04 -4.88039188e+00] [ 1.12588970e-02 -5.75451445e-04 9.99936451e-01 -1.10858797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60241403699999 meters 0.07912376144058084 Centerline is valid? [True, True] Translation: X:68.49, Y:-4.88, Z:-1.11 [[ 9.99702253e-01 2.11060441e-02 -1.22450309e-02 6.84857023e+01] [-2.10968610e-02 9.99777050e-01 8.78648856e-04 -4.88172880e+00] [ 1.22608456e-02 -6.20055527e-04 9.99924641e-01 -1.10778065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66241403699999 meters 0.08038861251162015 Centerline is valid? [True, True] Translation: X:68.54, Y:-4.89, Z:-1.11 [[ 9.99700620e-01 2.13696382e-02 -1.19167206e-02 6.85429399e+01] [-2.13609763e-02 9.99771464e-01 8.53695902e-04 -4.89305042e+00] [ 1.19322404e-02 -5.98887536e-04 9.99928629e-01 -1.11231032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722414037 meters 0.07960622248643914 Centerline is valid? [True, True] Translation: X:68.60, Y:-4.89, Z:-1.11 [[ 9.99674277e-01 2.29071285e-02 -1.12518531e-02 6.86022795e+01] [-2.28995028e-02 9.99737447e-01 8.06111996e-04 -4.89465588e+00] [ 1.12673646e-02 -5.48187586e-04 9.99936371e-01 -1.11059068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782414037 meters 0.07946714962089375 Centerline is valid? [True, True] Translation: X:68.66, Y:-4.90, Z:-1.11 [[ 9.99578815e-01 2.65213627e-02 -1.17817422e-02 6.86615132e+01] [-2.65132521e-02 9.99648106e-01 8.44090512e-04 -4.89919793e+00] [ 1.17999827e-02 -5.31362692e-04 9.99930237e-01 -1.11307906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842414037 meters 0.07817886002495808 Centerline is valid? [True, True] Translation: X:68.72, Y:-4.90, Z:-1.11 [[ 9.99510988e-01 2.88871763e-02 -1.19714822e-02 6.87206092e+01] [-2.88789906e-02 9.99582548e-01 8.56115305e-04 -4.90018295e+00] [ 1.19912155e-02 -5.09972332e-04 9.99927973e-01 -1.11247676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90241403699999 meters 0.07775288547453278 Centerline is valid? [True, True] Translation: X:68.78, Y:-4.90, Z:-1.11 [[ 9.99406201e-01 3.20245373e-02 -1.27151092e-02 6.87794270e+01] [-3.20155664e-02 9.99486957e-01 9.08505478e-04 -4.90256426e+00] [ 1.27376803e-02 -5.00884584e-04 9.99918747e-01 -1.11314697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96241403699999 meters 0.07794850124206834 Centerline is valid? [True, True] Translation: X:68.84, Y:-4.91, Z:-1.12 [[ 9.99353716e-01 3.30432108e-02 -1.41525842e-02 6.88357899e+01] [-3.30322686e-02 9.99453779e-01 1.00628343e-03 -4.90809106e+00] [ 1.41781046e-02 -5.38141120e-04 9.99899341e-01 -1.11576588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02241403699999 meters 0.07744200800649266 Centerline is valid? [True, True] Translation: X:68.89, Y:-4.91, Z:-1.11 [[ 9.99360101e-01 3.32429239e-02 -1.32021623e-02 6.88943313e+01] [-3.32334028e-02 9.99447176e-01 9.39964623e-04 -4.91319413e+00] [ 1.32261110e-02 -5.00610362e-04 9.99912406e-01 -1.11355631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08241403699999 meters 0.07836400775534501 Centerline is valid? [True, True] Translation: X:68.95, Y:-4.92, Z:-1.12 [[ 9.99469404e-01 2.95085016e-02 -1.37898125e-02 6.89523852e+01] [-2.94977547e-02 9.99564364e-01 9.82128798e-04 -4.92456720e+00] [ 1.38127863e-02 -5.74839179e-04 9.99904434e-01 -1.11671653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142414037 meters 0.07831043155597144 Centerline is valid? [True, True] Translation: X:69.01, Y:-4.93, Z:-1.12 [[ 9.99560619e-01 2.54656247e-02 -1.51681061e-02 6.90127411e+01] [-2.54521454e-02 9.99675457e-01 1.08107442e-03 -4.93065655e+00] [ 1.51907137e-02 -6.94538573e-04 9.99884373e-01 -1.11625878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202414037 meters 0.08070948645746163 Centerline is valid? [True, True] Translation: X:69.07, Y:-4.95, Z:-1.12 [[ 9.99724621e-01 1.71024816e-02 -1.60682282e-02 6.90708729e+01] [-1.70862799e-02 9.99853363e-01 1.14505536e-03 -4.94800900e+00] [ 1.60854552e-02 -8.70193795e-04 9.99870242e-01 -1.12105240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26241403699999 meters 0.08180397726278597 Centerline is valid? [True, True] Translation: X:69.13, Y:-4.96, Z:-1.12 [[ 9.99834909e-01 1.16685895e-02 -1.39283130e-02 6.91301053e+01] [-1.16558974e-02 9.99931576e-01 9.92072571e-04 -4.96015778e+00] [ 1.39389361e-02 -8.29561801e-04 9.99902504e-01 -1.12177403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32241403699999 meters 0.08239172302804908 Centerline is valid? [True, True] Translation: X:69.19, Y:-4.97, Z:-1.12 [[ 9.99886297e-01 5.81665967e-03 -1.39125608e-02 6.91900454e+01] [-5.80342678e-03 9.99982669e-01 9.91330119e-04 -4.97092544e+00] [ 1.39180859e-02 -9.10476874e-04 9.99902724e-01 -1.12139917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38241403699999 meters 0.08398579478142833 Centerline is valid? [True, True] Translation: X:69.25, Y:-4.98, Z:-1.12 [[ 9.99884624e-01 3.14879888e-03 -1.48601324e-02 6.92488452e+01] [-3.13341789e-03 9.99994531e-01 1.05821998e-03 -4.97829595e+00] [ 1.48633832e-02 -1.01153488e-03 9.99889022e-01 -1.12322479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44241403699999 meters 0.08245734551043515 Centerline is valid? [True, True] Translation: X:69.31, Y:-4.98, Z:-1.12 [[ 9.99889576e-01 2.12278071e-03 -1.47081796e-02 6.93071278e+01] [-2.10766552e-03 9.99997235e-01 1.04309725e-03 -4.98018899e+00] [ 1.47103532e-02 -1.01198214e-03 9.99891285e-01 -1.12394932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502414037 meters 0.0834110488207232 Centerline is valid? [True, True] Translation: X:69.37, Y:-4.99, Z:-1.13 [[ 9.99904611e-01 1.27565362e-03 -1.37528425e-02 6.93658061e+01] [-1.26235676e-03 9.99998727e-01 9.75481945e-04 -4.98781203e+00] [ 1.37540694e-02 -9.58027901e-04 9.99904949e-01 -1.12728182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562414037 meters 0.08470816090642355 Centerline is valid? [True, True] Translation: X:69.42, Y:-4.99, Z:-1.13 [[ 9.99908397e-01 1.60669207e-05 -1.35350276e-02 6.94230333e+01] [-3.10169903e-06 9.99999541e-01 9.57921832e-04 -4.99178126e+00] [ 1.35350367e-02 -9.57792102e-04 9.99907938e-01 -1.12894306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62241403699998 meters 0.08423053938915617 Centerline is valid? [True, True] Translation: X:69.48, Y:-4.99, Z:-1.13 [[ 9.99903405e-01 -1.90164440e-03 -1.37682080e-02 6.94822210e+01] [ 1.91524631e-03 9.99997691e-01 9.74803708e-04 -4.99091818e+00] [ 1.37663225e-02 -1.00107906e-03 9.99904739e-01 -1.12876950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68241403699999 meters 0.08584370681846702 Centerline is valid? [True, True] Translation: X:69.54, Y:-5.00, Z:-1.13 [[ 9.99894279e-01 -3.50603345e-03 -1.41116186e-02 6.95401986e+01] [ 3.52046330e-03 9.99993305e-01 9.97839578e-04 -4.99814157e+00] [ 1.41080256e-02 -1.04741352e-03 9.99899928e-01 -1.13196692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74241403699999 meters 0.08846507098535923 Centerline is valid? [True, True] Translation: X:69.60, Y:-5.00, Z:-1.13 [[ 9.99900027e-01 -7.71600391e-03 -1.18490231e-02 6.95996584e+01] [ 7.72648536e-03 9.99969798e-01 8.39061178e-04 -5.00470617e+00] [ 1.18421911e-02 -9.30528598e-04 9.99929446e-01 -1.13271746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80241403699999 meters 0.08998797966615305 Centerline is valid? [True, True] Translation: X:69.66, Y:-5.01, Z:-1.13 [[ 9.99850657e-01 -1.25151335e-02 -1.19178234e-02 6.96600837e+01] [ 1.25260762e-02 9.99921189e-01 8.43972678e-04 -5.00844522e+00] [ 1.19063217e-02 -9.93130201e-04 9.99928624e-01 -1.13302032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862414037 meters 0.09131473926631349 Centerline is valid? [True, True] Translation: X:69.72, Y:-5.01, Z:-1.14 [[ 9.99706002e-01 -2.04068093e-02 -1.30947522e-02 6.97198048e+01] [ 2.04206863e-02 9.99791046e-01 9.26891526e-04 -5.01289515e+00] [ 1.30731011e-02 -1.19402285e-03 9.99913830e-01 -1.13554368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922414037 meters 0.09546506519340013 Centerline is valid? [True, True] Translation: X:69.78, Y:-5.02, Z:-1.14 [[ 9.99553888e-01 -2.73180231e-02 -1.20726931e-02 6.97780974e+01] [ 2.73303232e-02 9.99626091e-01 8.55000786e-04 -5.02344057e+00] [ 1.20448221e-02 -1.18456996e-03 9.99926757e-01 -1.13807649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.982414037 meters 0.09594917734427458 Centerline is valid? [True, True] Translation: X:69.84, Y:-5.02, Z:-1.14 [[ 9.99521465e-01 -2.93194644e-02 -9.85949239e-03 6.98388814e+01] [ 2.93277681e-02 9.99569604e-01 6.98656947e-04 -5.02425158e+00] [ 9.83476466e-03 -9.87479523e-04 9.99951150e-01 -1.13697630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04241403699999 meters 0.09746273402551822 Centerline is valid? [True, True] Translation: X:69.90, Y:-5.03, Z:-1.14 [[ 9.99506283e-01 -2.92461045e-02 -1.14828629e-02 6.98995814e+01] [ 2.92573710e-02 9.99571580e-01 8.14363716e-04 -5.02555370e+00] [ 1.14541265e-02 -1.14992003e-03 9.99933738e-01 -1.13940179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10241403699999 meters 0.10032117312097924 Centerline is valid? [True, False] Translation: X:69.89, Y:-5.02, Z:-1.15 [[ 9.99714399e-01 -2.34449214e-02 -4.63202340e-03 6.98923202e+01] [ 2.34423118e-02 9.99725001e-01 -6.16891856e-04 -5.02480131e+00] [ 4.64521257e-03 5.08130334e-04 9.99989082e-01 -1.14597268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16241403699999 meters 0.09632140309835256 Centerline is valid? [False, True] Translation: X:69.88, Y:-5.02, Z:-1.15 [[ 9.99875729e-01 -1.55194041e-02 2.77032878e-03 6.98829993e+01] [ 1.55211352e-02 9.99879357e-01 -6.04476130e-04 -5.02156742e+00] [-2.76061345e-03 6.47399659e-04 9.99995980e-01 -1.15153814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222414037 meters 0.0997623348611665 Centerline is valid? [True, True] Translation: X:69.94, Y:-5.03, Z:-1.16 [[ 9.99918670e-01 -1.24145951e-02 2.92088980e-03 6.99421807e+01] [ 1.24153345e-02 9.99922899e-01 -2.35147335e-04 -5.02650464e+00] [-2.91774534e-03 2.71392034e-04 9.99995707e-01 -1.15589532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282414037 meters 0.09576563872514232 Centerline is valid? [True, True] Translation: X:70.00, Y:-5.02, Z:-1.16 [[ 9.99964930e-01 -8.06447475e-03 2.25901482e-03 7.00037920e+01] [ 8.06490422e-03 9.99967462e-01 -1.81066678e-04 -5.01753369e+00] [-2.25748111e-03 1.99279066e-04 9.99997432e-01 -1.15644993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342414037 meters 0.09530654893891406 Centerline is valid? [True, True] Translation: X:70.06, Y:-5.02, Z:-1.16 [[ 9.99986882e-01 -4.48185496e-03 2.47959034e-03 7.00638565e+01] [ 4.48236253e-03 9.99989934e-01 -1.99179589e-04 -5.01759229e+00] [-2.47867269e-03 2.10291399e-04 9.99996906e-01 -1.15930715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40241403699999 meters 0.09553313002568568 Centerline is valid? [True, True] Translation: X:70.13, Y:-5.02, Z:-1.16 [[ 9.99989033e-01 -3.34615673e-03 3.27681107e-03 7.01258027e+01] [ 3.34703208e-03 9.99994364e-01 -2.61686857e-04 -5.01845954e+00] [-3.27591696e-03 2.72651578e-04 9.99994597e-01 -1.16114069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46241403699999 meters 0.0861211294775222 Centerline is valid? [True, True] Translation: X:70.19, Y:-5.00, Z:-1.16 [[ 9.99993765e-01 -2.41051411e-03 2.58045161e-03 7.01894986e+01] [ 2.41105135e-03 9.99997072e-01 -2.05103925e-04 -4.99997811e+00] [-2.57994965e-03 2.11324248e-04 9.99996650e-01 -1.15734673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52241403699999 meters 0.08622034590502899 Centerline is valid? [True, True] Translation: X:70.25, Y:-5.00, Z:-1.16 [[ 9.99996723e-01 -1.10208597e-03 2.31066805e-03 7.02505432e+01] [ 1.10251571e-03 9.99999375e-01 -1.84713769e-04 -5.00231788e+00] [-2.31046303e-03 1.87260712e-04 9.99997313e-01 -1.15908256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58241403699999 meters 0.08834467689569535 Centerline is valid? [True, True] Translation: X:70.31, Y:-5.01, Z:-1.16 [[ 9.99995123e-01 2.22296457e-03 2.19383739e-03 7.03095959e+01] [-2.22258158e-03 9.99997514e-01 -1.76999830e-04 -5.00709077e+00] [-2.19422540e-03 1.72122984e-04 9.99997578e-01 -1.16414917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642414037 meters 0.08500730088475343 Centerline is valid? [True, True] Translation: X:70.37, Y:-5.00, Z:-1.16 [[ 9.99988560e-01 4.30226665e-03 2.09056819e-03 7.03707502e+01] [-4.30192437e-03 9.99990733e-01 -1.68192882e-04 -5.00093064e+00] [-2.09127243e-03 1.59197492e-04 9.99997801e-01 -1.16368390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702414037 meters 0.08490581139108802 Centerline is valid? [True, True] Translation: X:70.43, Y:-5.00, Z:-1.16 [[ 9.99964251e-01 6.82741450e-03 4.98821959e-03 7.04316830e+01] [-6.82549523e-03 9.99976625e-01 -4.01682145e-04 -5.00387955e+00] [-4.99084544e-03 3.67620717e-04 9.99987478e-01 -1.16386972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76241403699999 meters 0.08299904327375285 Centerline is valid? [True, True] Translation: X:70.49, Y:-5.00, Z:-1.16 [[ 9.99956980e-01 7.87860399e-03 4.89540381e-03 7.04925161e+01] [-7.87677006e-03 9.99968900e-01 -3.93791229e-04 -5.00336806e+00] [-4.89835409e-03 3.55214318e-04 9.99987940e-01 -1.16353445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82241403699999 meters 0.08419554258685492 Centerline is valid? [True, True] Translation: X:70.55, Y:-5.01, Z:-1.17 [[ 9.99940195e-01 1.04274571e-02 3.29778009e-03 7.05522823e+01] [-1.04266387e-02 9.99945606e-01 -2.65276763e-04 -5.00844398e+00] [-3.30036687e-03 2.30876136e-04 9.99994527e-01 -1.16849835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88241403699999 meters 0.08314334237760113 Centerline is valid? [True, True] Translation: X:70.61, Y:-5.01, Z:-1.17 [[ 9.99918413e-01 1.25441178e-02 2.41077988e-03 7.06124466e+01] [-1.25436852e-02 9.99921306e-01 -1.94474551e-04 -5.00841120e+00] [-2.41302968e-03 1.64218620e-04 9.99997075e-01 -1.16938000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94241403699999 meters 0.08299294614873627 Centerline is valid? [True, True] Translation: X:70.67, Y:-5.01, Z:-1.17 [[ 9.99876131e-01 1.56082897e-02 2.02561981e-03 7.06724896e+01] [-1.56079904e-02 9.99878175e-01 -1.63458268e-04 -5.01197545e+00] [-2.02792434e-03 1.31822166e-04 9.99997935e-01 -1.17371451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002414037 meters 0.08089503979896158 Centerline is valid? [True, True] Translation: X:70.73, Y:-5.01, Z:-1.17 [[ 9.99845897e-01 1.74686268e-02 1.74066588e-03 7.07321231e+01] [-1.74684066e-02 9.99847406e-01 -1.41652414e-04 -5.01054372e+00] [-1.74287474e-03 1.11223925e-04 9.99998475e-01 -1.17365439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062414037 meters 0.07988606758970727 Centerline is valid? [True, True] Translation: X:70.79, Y:-5.01, Z:-1.17 [[ 9.99814308e-01 1.91757873e-02 1.90728762e-03 7.07910607e+01] [-1.91755253e-02 9.99816121e-01 -1.55538813e-04 -5.01176868e+00] [-1.90991949e-03 1.18936688e-04 9.99998169e-01 -1.17387747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12241403699998 meters 0.08042293725443217 Centerline is valid? [True, True] Translation: X:70.85, Y:-5.02, Z:-1.18 [[ 9.99768242e-01 2.15274724e-02 -1.71387968e-04 7.08485570e+01] [-2.15274708e-02 9.99768257e-01 1.07422553e-05 -5.01638429e+00] [ 1.71579504e-04 -7.05021625e-06 9.99999985e-01 -1.17728353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18241403699999 meters 0.08026226239702014 Centerline is valid? [True, True] Translation: X:70.91, Y:-5.02, Z:-1.18 [[ 9.99757058e-01 2.20399269e-02 2.56256151e-04 7.09073124e+01] [-2.20399217e-02 9.99757091e-01 -2.29173204e-05 -5.02075229e+00] [-2.56699000e-04 1.72638873e-05 9.99999967e-01 -1.17928763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24241403699999 meters 0.08158706876968512 Centerline is valid? [True, True] Translation: X:70.97, Y:-5.03, Z:-1.18 [[ 9.99804334e-01 1.97620701e-02 8.67982406e-04 7.09663654e+01] [-1.97620162e-02 9.99804710e-01 -7.06996800e-05 -5.03078372e+00] [-8.69210069e-04 5.35327641e-05 9.99999621e-01 -1.18321155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30241403699999 meters 0.08337549537095748 Centerline is valid? [True, True] Translation: X:71.03, Y:-5.04, Z:-1.19 [[ 9.99881431e-01 1.53750914e-02 8.54376118e-04 7.10258894e+01] [-1.53750385e-02 9.99881795e-01 -6.84747841e-05 -5.04131902e+00] [-8.55327932e-04 5.53305994e-05 9.99999633e-01 -1.18561576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362414037 meters 0.08254096248414453 Centerline is valid? [True, True] Translation: X:71.09, Y:-5.05, Z:-1.19 [[ 9.99910703e-01 1.33488407e-02 -6.28657344e-04 7.10864157e+01] [-1.33488117e-02 9.99910899e-01 5.03541331e-05 -5.04587710e+00] [ 6.29273500e-04 -4.19578081e-05 9.99999801e-01 -1.18626980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422414037 meters 0.08296835409459964 Centerline is valid? [True, True] Translation: X:71.15, Y:-5.05, Z:-1.19 [[ 9.99930385e-01 1.16963362e-02 -1.55583645e-03 7.11457601e+01] [-1.16961584e-02 9.99931590e-01 1.23368313e-04 -5.05300522e+00] [ 1.55717298e-03 -1.05162415e-04 9.99998782e-01 -1.18883052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.482414037 meters 0.0837444125101407 Centerline is valid? [True, True] Translation: X:71.20, Y:-5.06, Z:-1.19 [[ 9.99936333e-01 1.12840081e-02 -1.54849729e-05 7.12041015e+01] [-1.12840081e-02 9.99936334e-01 -1.12281778e-06 -5.06052463e+00] [ 1.54713171e-05 1.29747885e-06 1.00000000e+00 -1.19078063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54241403699999 meters 0.08403738767077612 Centerline is valid? [True, True] Translation: X:71.26, Y:-5.07, Z:-1.19 [[ 9.99929262e-01 1.18854803e-02 4.54429247e-04 7.12621838e+01] [-1.18854639e-02 9.99929365e-01 -3.86642764e-05 -5.06698722e+00] [-4.54856691e-04 3.32604389e-05 9.99999896e-01 -1.19170051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60241403699999 meters 0.08315221760030646 Centerline is valid? [True, True] Translation: X:71.32, Y:-5.07, Z:-1.19 [[ 9.99921932e-01 1.24139627e-02 -1.42220906e-03 7.13208437e+01] [-1.24138171e-02 9.99922939e-01 1.11194183e-04 -5.07005714e+00] [ 1.42347982e-03 -9.35304595e-05 9.99998982e-01 -1.19399384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66241403699999 meters 0.08345907377464956 Centerline is valid? [True, True] Translation: X:71.38, Y:-5.08, Z:-1.20 [[ 9.99922506e-01 1.24151314e-02 -9.19522613e-04 7.13797483e+01] [-1.24150714e-02 9.99922928e-01 7.09982703e-05 -5.07580458e+00] [ 9.20333196e-04 -5.95768295e-05 9.99999575e-01 -1.19676357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722414037 meters 0.08590802162088837 Centerline is valid? [True, True] Translation: X:71.44, Y:-5.09, Z:-1.20 [[ 9.99929884e-01 1.18394102e-02 2.34162868e-04 7.14368880e+01] [-1.18394055e-02 9.99929912e-01 -2.15865477e-05 -5.08685207e+00] [-2.34402028e-04 1.88126850e-05 9.99999972e-01 -1.20102515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782414037 meters 0.09491290221911089 Centerline is valid? [True, True] Translation: X:71.49, Y:-5.11, Z:-1.21 [[ 9.99889083e-01 1.33890132e-02 6.52355497e-03 7.14941561e+01] [-1.33859009e-02 9.99910269e-01 -5.20515122e-04 -5.11091741e+00] [-6.52993879e-03 4.33133728e-04 9.99978586e-01 -1.20892521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842414037 meters 0.08106855069849903 Centerline is valid? [True, True] Translation: X:71.56, Y:-5.08, Z:-1.20 [[ 9.99906799e-01 1.35303718e-02 1.82252326e-03 7.15562715e+01] [-1.35301265e-02 9.99908453e-01 -1.46886108e-04 -5.08490257e+00] [-1.82434384e-03 1.22213448e-04 9.99998328e-01 -1.19905843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90241403699999 meters 0.08180832156198296 Centerline is valid? [True, True] Translation: X:71.61, Y:-5.09, Z:-1.20 [[ 9.99863894e-01 1.64446675e-02 1.32867998e-03 7.16144957e+01] [-1.64445390e-02 9.99864774e-01 -1.07558138e-04 -5.09084073e+00] [-1.33026906e-03 8.56939688e-05 9.99999112e-01 -1.20220534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96241403699999 meters 0.0806055126255265 Centerline is valid? [True, True] Translation: X:71.67, Y:-5.09, Z:-1.20 [[ 9.99778280e-01 2.07043273e-02 3.83689550e-03 7.16747329e+01] [-2.07033042e-02 9.99785617e-01 -3.06161892e-04 -5.09162919e+00] [-3.84241181e-03 2.26657595e-04 9.99992592e-01 -1.20177285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02241403699999 meters 0.08117140209405359 Centerline is valid? [True, True] Translation: X:71.73, Y:-5.10, Z:-1.21 [[ 9.99716990e-01 2.34795946e-02 3.82739258e-03 7.17327901e+01] [-2.34785974e-02 9.99724293e-01 -3.05273522e-04 -5.09758365e+00] [-3.83350504e-03 2.15325317e-04 9.99992629e-01 -1.20633307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08241403699999 meters 0.07753330818852977 Centerline is valid? [True, True] Translation: X:71.79, Y:-5.09, Z:-1.20 [[ 9.99550391e-01 2.96256360e-02 4.61915515e-03 7.17929870e+01] [-2.96242493e-02 9.99561038e-01 -3.68343910e-04 -5.09275304e+00] [-4.62803993e-03 2.31339296e-04 9.99989264e-01 -1.20460270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142414037 meters 0.07724835742885022 Centerline is valid? [True, True] Translation: X:71.85, Y:-5.09, Z:-1.21 [[ 9.99388605e-01 3.46299104e-02 4.81508976e-03 7.18518146e+01] [-3.46284613e-02 9.99400181e-01 -3.84015321e-04 -5.09479127e+00] [-4.82550000e-03 2.17041387e-04 9.99988334e-01 -1.20728463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202414037 meters 0.07634511345957395 Centerline is valid? [True, True] Translation: X:71.91, Y:-5.10, Z:-1.21 [[ 9.99177511e-01 4.03777133e-02 3.73388544e-03 7.19113406e+01] [-4.03768819e-02 9.99184477e-01 -2.97786238e-04 -5.09701616e+00] [-3.74286430e-03 1.46778660e-04 9.99992985e-01 -1.20930756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26241403699999 meters 0.07616846377441233 Centerline is valid? [True, True] Translation: X:71.97, Y:-5.11, Z:-1.21 [[ 9.99073812e-01 4.27176602e-02 5.16911193e-03 7.19700927e+01] [-4.27161016e-02 9.99087166e-01 -4.11599149e-04 -5.10627946e+00] [-5.18197594e-03 1.90413621e-04 9.99986555e-01 -1.21405713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32241403699999 meters 0.07536520289245875 Centerline is valid? [True, True] Translation: X:72.03, Y:-5.11, Z:-1.21 [[ 9.99012631e-01 4.39181391e-02 6.70521404e-03 7.20293598e+01] [-4.39155440e-02 9.99035104e-01 -5.33844942e-04 -5.11007322e+00] [-6.72218969e-03 2.38854718e-04 9.99977377e-01 -1.21318592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38241403699999 meters 0.07552562711700755 Centerline is valid? [True, True] Translation: X:72.09, Y:-5.12, Z:-1.21 [[ 9.99007237e-01 4.39642130e-02 7.18950060e-03 7.20883211e+01] [-4.39612343e-02 9.99033074e-01 -5.71891257e-04 -5.11660920e+00] [-7.20769163e-03 2.55264184e-04 9.99973992e-01 -1.21492933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44241403699999 meters 0.07579828416263755 Centerline is valid? [True, True] Translation: X:72.15, Y:-5.13, Z:-1.22 [[ 9.99153134e-01 4.06492053e-02 6.37630635e-03 7.21468944e+01] [-4.06467988e-02 9.99173449e-01 -5.06608073e-04 -5.12955972e+00] [-6.39162922e-03 2.47002603e-04 9.99979543e-01 -1.21838654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502414037 meters 0.07744251788082825 Centerline is valid? [True, True] Translation: X:72.20, Y:-5.15, Z:-1.22 [[ 9.99414696e-01 3.32806473e-02 7.91602653e-03 7.22047402e+01] [-3.32767197e-02 9.99445980e-01 -6.27391431e-04 -5.14731979e+00] [-7.93252088e-03 3.63604821e-04 9.99968471e-01 -1.22113480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562414037 meters 0.07881844135770329 Centerline is valid? [True, True] Translation: X:72.26, Y:-5.16, Z:-1.22 [[ 9.99587202e-01 2.76230382e-02 7.89890384e-03 7.22638500e+01] [-2.76189505e-02 9.99618328e-01 -6.26126927e-04 -5.16093365e+00] [-7.91318457e-03 4.07709029e-04 9.99968607e-01 -1.22397983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62241403699998 meters 0.07920201867198554 Centerline is valid? [True, True] Translation: X:72.32, Y:-5.17, Z:-1.22 [[ 9.99779215e-01 1.96614467e-02 7.41274045e-03 7.23232007e+01] [-1.96576257e-02 9.99806597e-01 -5.87977877e-04 -5.17337000e+00] [-7.42286731e-03 4.42131182e-04 9.99972352e-01 -1.22447171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68241403699999 meters 0.08254806270744378 Centerline is valid? [True, True] Translation: X:72.38, Y:-5.19, Z:-1.23 [[ 9.99882525e-01 1.30690358e-02 8.00858204e-03 7.23815504e+01] [-1.30643666e-02 9.99914456e-01 -6.35070247e-04 -5.19250051e+00] [-8.01619671e-03 5.30368590e-04 9.99967729e-01 -1.22963768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74241403699999 meters 0.0815904803586661 Centerline is valid? [True, True] Translation: X:72.44, Y:-5.20, Z:-1.23 [[ 9.99929063e-01 8.45262207e-03 8.39180409e-03 7.24413063e+01] [-8.44733503e-03 9.99964099e-01 -6.65269484e-04 -5.19850340e+00] [-8.39712609e-03 5.94333911e-04 9.99964567e-01 -1.23091826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80241403699999 meters 0.08474651716979882 Centerline is valid? [True, True] Translation: X:72.50, Y:-5.21, Z:-1.23 [[ 9.99948879e-01 2.36704377e-03 9.83040244e-03 7.25000672e+01] [-2.35950075e-03 9.99996913e-01 -7.78843092e-04 -5.21451860e+00] [-9.83221565e-03 7.55608435e-04 9.99951377e-01 -1.23265634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862414037 meters 0.08689821242833073 Centerline is valid? [True, True] Translation: X:72.56, Y:-5.23, Z:-1.23 [[ 9.99943539e-01 -2.08963810e-03 1.04188845e-02 7.25604726e+01] [ 2.09834334e-03 9.99997458e-01 -8.24663282e-04 -5.22631077e+00] [-1.04171347e-02 8.46479117e-04 9.99945382e-01 -1.23360429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922414037 meters 0.08584799063745867 Centerline is valid? [True, True] Translation: X:72.62, Y:-5.23, Z:-1.24 [[ 9.99947458e-01 -5.24153637e-03 8.80949130e-03 7.26212175e+01] [ 5.24788710e-03 9.99985986e-01 -6.97934457e-04 -5.23001749e+00] [-8.80570960e-03 7.44129002e-04 9.99960952e-01 -1.23686901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.982414037 meters 0.0865817410598544 Centerline is valid? [True, True] Translation: X:72.68, Y:-5.24, Z:-1.24 [[ 9.99947941e-01 -6.38579394e-03 7.95844377e-03 7.26817776e+01] [ 6.39100987e-03 9.99979379e-01 -6.30136976e-04 -5.23579363e+00] [-7.95425573e-03 6.80966665e-04 9.99968133e-01 -1.24042764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04241403699999 meters 0.08839731800509691 Centerline is valid? [True, True] Translation: X:72.74, Y:-5.24, Z:-1.24 [[ 9.99941482e-01 -5.75062376e-03 9.16317833e-03 7.27421780e+01] [ 5.75751023e-03 9.99983162e-01 -7.25335693e-04 -5.24183480e+00] [-9.15885291e-03 7.78050340e-04 9.99957754e-01 -1.24410581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10241403699999 meters 0.08818931419921176 Centerline is valid? [True, True] Translation: X:72.80, Y:-5.25, Z:-1.25 [[ 9.99936895e-01 -5.90845673e-03 9.55488713e-03 7.28039447e+01] [ 5.91594717e-03 9.99982215e-01 -7.55863920e-04 -5.24571060e+00] [-9.55025121e-03 8.12342429e-04 9.99954065e-01 -1.24642449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16241403699999 meters 0.08824026782571295 Centerline is valid? [True, True] Translation: X:72.87, Y:-5.25, Z:-1.25 [[ 9.99943213e-01 -5.24386272e-03 9.27750634e-03 7.28663617e+01] [ 5.25090149e-03 9.99985944e-01 -7.34496481e-04 -5.24764058e+00] [-9.27352434e-03 7.83170043e-04 9.99956693e-01 -1.24878356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222414037 meters 0.08693765700544011 Centerline is valid? [True, True] Translation: X:72.93, Y:-5.25, Z:-1.25 [[ 9.99965139e-01 -3.79582004e-03 7.43728868e-03 7.29292313e+01] [ 3.80030370e-03 9.99992605e-01 -5.88822349e-04 -5.24594827e+00] [-7.43499863e-03 6.17065778e-04 9.99972170e-01 -1.25016594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282414037 meters 0.08665624494632822 Centerline is valid? [True, True] Translation: X:72.99, Y:-5.25, Z:-1.25 [[ 9.99967247e-01 1.38734819e-03 7.97375515e-03 7.29886816e+01] [-1.38233328e-03 9.99998843e-01 -6.34404448e-04 -5.24528846e+00] [-7.97462606e-03 6.23361282e-04 9.99968008e-01 -1.25355045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342414037 meters 0.08400755293763171 Centerline is valid? [True, True] Translation: X:73.05, Y:-5.24, Z:-1.25 [[ 9.99961049e-01 4.88471002e-03 7.35120726e-03 7.30496779e+01] [-4.88054749e-03 9.99987919e-01 -5.84071549e-04 -5.24137347e+00] [-7.35397147e-03 5.48170882e-04 9.99972809e-01 -1.25491700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40241403699999 meters 0.08258352900602642 Centerline is valid? [True, True] Translation: X:73.11, Y:-5.24, Z:-1.26 [[ 9.99911555e-01 9.20111760e-03 9.60323627e-03 7.31108949e+01] [-9.19421076e-03 9.99957441e-01 -7.63122427e-04 -5.23958280e+00] [-9.60984915e-03 6.74760754e-04 9.99953597e-01 -1.25566388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46241403699999 meters 0.08277574235056227 Centerline is valid? [True, True] Translation: X:73.17, Y:-5.24, Z:-1.26 [[ 9.99840590e-01 1.40213956e-02 1.10541591e-02 7.31707609e+01] [-1.40125287e-02 9.99901433e-01 -8.79182940e-04 -5.23898321e+00] [-1.10653969e-02 7.24146068e-04 9.99938514e-01 -1.25716348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52241403699999 meters 0.08027590163650153 Centerline is valid? [True, True] Translation: X:73.23, Y:-5.23, Z:-1.26 [[ 9.99826986e-01 1.62032786e-02 9.13518633e-03 7.32315695e+01] [-1.61973186e-02 9.99868551e-01 -7.26033047e-04 -5.23449899e+00] [-9.14574963e-03 5.77941910e-04 9.99958010e-01 -1.25855827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58241403699999 meters 0.08166424471199296 Centerline is valid? [True, True] Translation: X:73.29, Y:-5.24, Z:-1.26 [[ 9.99826490e-01 1.66134519e-02 8.42508902e-03 7.32895993e+01] [-1.66083853e-02 9.99861846e-01 -6.70979538e-04 -5.24164885e+00] [-8.43507235e-03 5.30935992e-04 9.99964283e-01 -1.26291745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642414037 meters 0.08120277244967307 Centerline is valid? [True, True] Translation: X:73.35, Y:-5.24, Z:-1.26 [[ 9.99805847e-01 1.66016757e-02 1.06137968e-02 7.33500201e+01] [-1.65936539e-02 9.99861960e-01 -8.43412756e-04 -5.24097657e+00] [-1.06263338e-02 6.67127335e-04 9.99943316e-01 -1.26221734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702414037 meters 0.08190272024649045 Centerline is valid? [True, True] Translation: X:73.41, Y:-5.25, Z:-1.27 [[ 9.99814552e-01 1.64226839e-02 1.00576810e-02 7.34094542e+01] [-1.64154689e-02 9.99864937e-01 -7.99497338e-04 -5.24637476e+00] [-1.00694525e-02 6.34247523e-04 9.99949101e-01 -1.26607939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76241403699999 meters 0.08184350580945766 Centerline is valid? [True, True] Translation: X:73.47, Y:-5.25, Z:-1.27 [[ 9.99843041e-01 1.55333091e-02 8.52112565e-03 7.34692459e+01] [-1.55281073e-02 9.99879203e-01 -6.76280029e-04 -5.24975186e+00] [-8.53060119e-03 5.43856927e-04 9.99963466e-01 -1.26922866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82241403699999 meters 0.08425340067992734 Centerline is valid? [True, True] Translation: X:73.53, Y:-5.26, Z:-1.27 [[ 9.99847668e-01 1.50667703e-02 8.81101639e-03 7.35273403e+01] [-1.50611780e-02 9.99886329e-01 -7.00702986e-04 -5.25851490e+00] [-8.82057216e-03 5.67891960e-04 9.99960937e-01 -1.27491853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88241403699999 meters 0.08337796639130111 Centerline is valid? [True, True] Translation: X:73.59, Y:-5.26, Z:-1.28 [[ 9.99868043e-01 1.41802445e-02 7.92568017e-03 7.35872065e+01] [-1.41756974e-02 9.99899322e-01 -6.29606280e-04 -5.25976089e+00] [-7.93381020e-03 5.17171155e-04 9.99968393e-01 -1.27618423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94241403699999 meters 0.08328324602585814 Centerline is valid? [True, True] Translation: X:73.65, Y:-5.27, Z:-1.28 [[ 9.99895224e-01 1.21312577e-02 7.89770736e-03 7.36467555e+01] [-1.21266875e-02 9.99926273e-01 -6.26303516e-04 -5.26603879e+00] [-7.90472293e-03 5.30464865e-04 9.99968616e-01 -1.27971201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002414037 meters 0.08421147301617474 Centerline is valid? [True, True] Translation: X:73.71, Y:-5.27, Z:-1.28 [[ 9.99933611e-01 8.97277293e-03 7.22930998e-03 7.37063404e+01] [-8.96886173e-03 9.99959615e-01 -5.73258524e-04 -5.27319586e+00] [-7.23416174e-03 5.08381784e-04 9.99973704e-01 -1.28290923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062414037 meters 0.08439721515432017 Centerline is valid? [True, True] Translation: X:73.77, Y:-5.28, Z:-1.28 [[ 9.99957969e-01 5.08182801e-03 7.63114421e-03 7.37664984e+01] [-5.07735899e-03 9.99986927e-01 -6.04887457e-04 -5.27870533e+00] [-7.63411839e-03 5.66115974e-04 9.99970699e-01 -1.28406767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12241403699998 meters 0.08896773737575527 Centerline is valid? [True, True] Translation: X:73.82, Y:-5.30, Z:-1.29 [[ 9.99963110e-01 5.59247523e-04 8.57119499e-03 7.38249607e+01] [-5.53443565e-04 9.99999616e-01 -6.79503783e-04 -5.29749855e+00] [-8.57157171e-03 6.74735044e-04 9.99963036e-01 -1.28896524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18241403699999 meters 0.08762029213002027 Centerline is valid? [True, True] Translation: X:73.89, Y:-5.30, Z:-1.29 [[ 9.99955353e-01 -3.40344160e-03 8.81525722e-03 7.38858615e+01] [ 3.40973450e-03 9.99993943e-01 -6.98933520e-04 -5.29938464e+00] [-8.81282504e-03 7.28960002e-04 9.99960901e-01 -1.28819774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24241403699999 meters 0.09003860783675446 Centerline is valid? [True, True] Translation: X:73.95, Y:-5.31, Z:-1.29 [[ 9.99941031e-01 -6.02619490e-03 9.03435841e-03 7.39456670e+01] [ 6.03290786e-03 9.99981546e-01 -7.15980476e-04 -5.30786284e+00] [-9.02987705e-03 7.70441707e-04 9.99958933e-01 -1.29063344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30241403699999 meters 0.0878466801250766 Centerline is valid? [True, True] Translation: X:74.01, Y:-5.31, Z:-1.29 [[ 9.99912711e-01 -1.05160054e-02 7.99900216e-03 7.40060928e+01] [ 1.05214118e-02 9.99944447e-01 -6.34102064e-04 -5.31121240e+00] [-7.99188958e-03 7.18207509e-04 9.99967806e-01 -1.29218460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362414037 meters 0.09185279720696729 Centerline is valid? [True, True] Translation: X:74.06, Y:-5.32, Z:-1.30 [[ 9.99844334e-01 -1.60570484e-02 7.31296906e-03 7.40643621e+01] [ 1.60617136e-02 9.99870834e-01 -5.79650793e-04 -5.32420273e+00] [-7.30271699e-03 6.97019376e-04 9.99973092e-01 -1.29568367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422414037 meters 0.09455062034082733 Centerline is valid? [True, True] Translation: X:74.12, Y:-5.33, Z:-1.30 [[ 9.99772041e-01 -1.95978327e-02 8.47293255e-03 7.41229697e+01] [ 1.96042341e-02 9.99807592e-01 -6.73109111e-04 -5.33156344e+00] [-8.45811081e-03 8.39061023e-04 9.99963878e-01 -1.29718615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.482414037 meters 0.0957069562511113 Centerline is valid? [True, True] Translation: X:74.18, Y:-5.34, Z:-1.30 [[ 9.99720582e-01 -2.13865137e-02 1.00685569e-02 7.41833668e+01] [ 2.13956187e-02 9.99770770e-01 -7.97443461e-04 -5.33994916e+00] [-1.00491944e-02 1.01264365e-03 9.99948993e-01 -1.29920485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54241403699999 meters 0.09603226414578836 Centerline is valid? [True, True] Translation: X:74.25, Y:-5.34, Z:-1.30 [[ 9.99724792e-01 -2.12310478e-02 9.97914645e-03 7.42456777e+01] [ 2.12399827e-02 9.99774094e-01 -7.90216106e-04 -5.34378548e+00] [-9.96011499e-03 1.00195553e-03 9.99949895e-01 -1.30097682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60241403699999 meters 0.09403939315343589 Centerline is valid? [True, True] Translation: X:74.31, Y:-5.34, Z:-1.30 [[ 9.99778304e-01 -1.91572465e-02 8.73744839e-03 7.43070947e+01] [ 1.91640319e-02 9.99816113e-01 -6.93523549e-04 -5.34057833e+00] [-8.72255568e-03 8.60814537e-04 9.99961587e-01 -1.30376670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66241403699999 meters 0.09337228153692742 Centerline is valid? [True, True] Translation: X:74.37, Y:-5.35, Z:-1.31 [[ 9.99777213e-01 -1.88154515e-02 9.56568626e-03 7.43696481e+01] [ 1.88235439e-02 9.99822535e-01 -7.56650896e-04 -5.34502771e+00] [-9.54975196e-03 9.36542440e-04 9.99953962e-01 -1.30680994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722414037 meters 0.09646383237071235 Centerline is valid? [True, True] Translation: X:74.43, Y:-5.35, Z:-1.31 [[ 9.99785441e-01 -1.85984299e-02 9.11974870e-03 7.44313864e+01] [ 1.86057954e-02 9.99826635e-01 -7.23462603e-04 -5.35281090e+00] [-9.10471239e-03 8.92987557e-04 9.99958153e-01 -1.30946832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782414037 meters 0.09257047822557556 Centerline is valid? [True, True] Translation: X:74.49, Y:-5.35, Z:-1.31 [[ 9.99806602e-01 -1.74488864e-02 9.07161690e-03 7.44936226e+01] [ 1.74561464e-02 9.99847369e-01 -7.21723062e-04 -5.34811027e+00] [-9.05763903e-03 8.79938955e-04 9.99958592e-01 -1.30869263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842414037 meters 0.09929357605082514 Centerline is valid? [True, True] Translation: X:74.55, Y:-5.37, Z:-1.32 [[ 9.99801263e-01 -1.76682890e-02 9.23400324e-03 7.45530398e+01] [ 1.76758197e-02 9.99843501e-01 -7.34563946e-04 -5.36530315e+00] [-9.21957964e-03 8.97636537e-04 9.99957096e-01 -1.31566368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90241403699999 meters 0.0934930307148132 Centerline is valid? [True, True] Translation: X:74.62, Y:-5.36, Z:-1.31 [[ 9.99790555e-01 -1.80411268e-02 9.66245569e-03 7.46159858e+01] [ 1.80493911e-02 9.99836801e-01 -7.68780580e-04 -5.35651119e+00] [-9.64700912e-03 9.43021005e-04 9.99953022e-01 -1.31373835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96241403699999 meters 0.09388351538309254 Centerline is valid? [True, True] Translation: X:74.68, Y:-5.36, Z:-1.32 [[ 9.99823095e-01 -1.63673347e-02 9.26765715e-03 7.46770973e+01] [ 1.63748795e-02 9.99865650e-01 -7.38803130e-04 -5.35954808e+00] [-9.25431980e-03 8.90429201e-04 9.99956781e-01 -1.31711922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02241403699999 meters 0.09334263803707969 Centerline is valid? [True, True] Translation: X:74.74, Y:-5.36, Z:-1.32 [[ 9.99868262e-01 -1.36695877e-02 8.75220363e-03 7.47376170e+01] [ 1.36762218e-02 9.99906232e-01 -6.98590077e-04 -5.36055851e+00] [-8.74183352e-03 8.18195124e-04 9.99961455e-01 -1.31994386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08241403699999 meters 0.09080273534145539 Centerline is valid? [True, True] Translation: X:74.80, Y:-5.36, Z:-1.32 [[ 9.99902121e-01 -1.08852061e-02 8.78980716e-03 7.47987528e+01] [ 1.08917921e-02 9.99940436e-01 -7.01757387e-04 -5.35820473e+00] [-8.78164483e-03 7.97425452e-04 9.99961123e-01 -1.32072915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142414037 meters 0.09053623895335582 Centerline is valid? [True, True] Translation: X:74.86, Y:-5.36, Z:-1.32 [[ 9.99932331e-01 -7.09112857e-03 9.22218759e-03 7.48601269e+01] [ 7.09821902e-03 9.99974536e-01 -7.36342953e-04 -5.35664139e+00] [-9.21673125e-03 8.01754233e-04 9.99957204e-01 -1.32314683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202414037 meters 0.08824818680338327 Centerline is valid? [True, True] Translation: X:74.92, Y:-5.36, Z:-1.32 [[ 9.99924741e-01 -5.03662342e-03 1.11867992e-02 7.49212670e+01] [ 5.04692769e-03 9.99986865e-01 -8.93070241e-04 -5.35506805e+00] [-1.11821542e-02 9.49461996e-04 9.99937027e-01 -1.32412390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26241403699999 meters 0.0884889072469873 Centerline is valid? [True, True] Translation: X:74.98, Y:-5.36, Z:-1.33 [[ 9.99918370e-01 -3.81836433e-03 1.21931886e-02 7.49831051e+01] [ 3.83051005e-03 9.99992190e-01 -9.72908241e-04 -5.35914795e+00] [-1.21893785e-02 1.01953495e-03 9.99925187e-01 -1.32569755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32241403699999 meters 0.09185080622230858 Centerline is valid? [True, True] Translation: X:75.04, Y:-5.37, Z:-1.33 [[ 9.99945324e-01 -2.80459043e-03 1.00738451e-02 7.50436258e+01] [ 2.81283185e-03 9.99995721e-01 -8.04025849e-04 -5.36688727e+00] [-1.00715470e-02 8.32317921e-04 9.99948934e-01 -1.33067098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38241403699999 meters 0.08754605460191718 Centerline is valid? [True, True] Translation: X:75.11, Y:-5.36, Z:-1.33 [[ 9.99967898e-01 -1.17705010e-03 7.92578962e-03 7.51060884e+01] [ 1.18209714e-03 9.99999102e-01 -6.32131920e-04 -5.36141897e+00] [-7.92503845e-03 6.41480680e-04 9.99968391e-01 -1.33152688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44241403699999 meters 0.08803297242365622 Centerline is valid? [True, True] Translation: X:75.17, Y:-5.37, Z:-1.34 [[ 9.99966173e-01 1.51415151e-03 8.08450394e-03 7.51665723e+01] [-1.50897324e-03 9.99998652e-01 -6.46578939e-04 -5.36562328e+00] [-8.08547206e-03 6.34357767e-04 9.99967111e-01 -1.33728678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502414037 meters 0.08504208015276238 Centerline is valid? [True, True] Translation: X:75.23, Y:-5.36, Z:-1.34 [[ 9.99932491e-01 5.68948954e-03 1.01312594e-02 7.52279605e+01] [-5.68156219e-03 9.99983531e-01 -8.11075062e-04 -5.36085821e+00] [-1.01357071e-02 7.53458927e-04 9.99948349e-01 -1.33633249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562414037 meters 0.08646130497259771 Centerline is valid? [True, True] Translation: X:75.29, Y:-5.37, Z:-1.34 [[ 9.99893279e-01 1.02356851e-02 1.04241222e-02 7.52873351e+01] [-1.02275306e-02 9.99947349e-01 -8.35280062e-04 -5.36640446e+00] [-1.04321230e-02 7.28577891e-04 9.99945318e-01 -1.33841426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62241403699998 meters 0.08358873356648974 Centerline is valid? [True, True] Translation: X:75.35, Y:-5.36, Z:-1.34 [[ 9.99866351e-01 1.40755774e-02 8.31610266e-03 7.53484418e+01] [-1.40705276e-02 9.99900784e-01 -6.65425208e-04 -5.36242328e+00] [-8.32464382e-03 5.48324323e-04 9.99965199e-01 -1.33937123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68241403699999 meters 0.08143404583810045 Centerline is valid? [True, True] Translation: X:75.41, Y:-5.36, Z:-1.34 [[ 9.99840595e-01 1.59138024e-02 8.09539086e-03 7.54089775e+01] [-1.59090688e-02 9.99873232e-01 -6.48790204e-04 -5.36007568e+00] [-8.10468934e-03 5.19896654e-04 9.99967021e-01 -1.33922190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74241403699999 meters 0.0811326805384348 Centerline is valid? [True, True] Translation: X:75.47, Y:-5.36, Z:-1.34 [[ 9.99767721e-01 2.04947793e-02 6.66837100e-03 7.54677141e+01] [-2.04916683e-02 9.99789881e-01 -5.34518088e-04 -5.36334038e+00] [-6.67792468e-03 3.97747884e-04 9.99977623e-01 -1.34353434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80241403699999 meters 0.07885652956147236 Centerline is valid? [True, True] Translation: X:75.53, Y:-5.36, Z:-1.34 [[ 9.99640179e-01 2.59602380e-02 6.75125015e-03 7.55287153e+01] [-2.59571779e-02 9.99662910e-01 -5.40504578e-04 -5.36052839e+00] [-6.76300600e-03 3.65066692e-04 9.99977064e-01 -1.34422339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862414037 meters 0.0784731631864549 Centerline is valid? [True, True] Translation: X:75.59, Y:-5.36, Z:-1.35 [[ 9.99526645e-01 2.95237916e-02 8.65052355e-03 7.55891641e+01] [-2.95188996e-02 9.99563982e-01 -6.92677376e-04 -5.36440442e+00] [-8.66720223e-03 4.36995558e-04 9.99962344e-01 -1.34587049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922414037 meters 0.07737094877816122 Centerline is valid? [True, True] Translation: X:75.65, Y:-5.37, Z:-1.35 [[ 9.99410789e-01 3.26785577e-02 1.04969570e-02 7.56493514e+01] [-3.26715276e-02 9.99465790e-01 -8.40557176e-04 -5.36922524e+00] [-1.05188177e-02 4.97110289e-04 9.99944552e-01 -1.34603175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.982414037 meters 0.07700232244488014 Centerline is valid? [True, True] Translation: X:75.71, Y:-5.38, Z:-1.35 [[ 9.99394743e-01 3.34501477e-02 9.55174287e-03 7.57082975e+01] [-3.34443546e-02 9.99440288e-01 -7.65625115e-04 -5.37565153e+00] [-9.57200691e-03 4.45709840e-04 9.99954088e-01 -1.34762926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04241403699999 meters 0.07707946892247274 Centerline is valid? [True, True] Translation: X:75.77, Y:-5.38, Z:-1.35 [[ 9.99422974e-01 3.29860758e-02 8.10167123e-03 7.57668439e+01] [-3.29818903e-02 9.99455738e-01 -6.49725566e-04 -5.38351499e+00] [-8.11869370e-03 3.82142227e-04 9.99966970e-01 -1.34942763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10241403699999 meters 0.07752228446256347 Centerline is valid? [True, True] Translation: X:75.82, Y:-5.40, Z:-1.35 [[ 9.99433529e-01 3.32499613e-02 5.20194133e-03 7.58240171e+01] [-3.32482343e-02 9.99447037e-01 -4.18155540e-04 -5.39550281e+00] [-5.21296850e-03 2.44963304e-04 9.99986382e-01 -1.35402293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16241403699999 meters 0.07768004006913905 Centerline is valid? [True, True] Translation: X:75.88, Y:-5.41, Z:-1.36 [[ 9.99404038e-01 3.42302139e-02 4.45663653e-03 7.58822595e+01] [-3.42289582e-02 9.99413953e-01 -3.57754202e-04 -5.40547602e+00] [-4.46627074e-03 2.04994969e-04 9.99990005e-01 -1.35830471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222414037 meters 0.07645464592985653 Centerline is valid? [True, True] Translation: X:75.94, Y:-5.41, Z:-1.36 [[ 9.99349428e-01 3.57835464e-02 4.50105359e-03 7.59410087e+01] [-3.57822824e-02 9.99359544e-01 -3.61061010e-04 -5.40973727e+00] [-4.51109090e-03 1.99768143e-04 9.99989805e-01 -1.35814445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282414037 meters 0.07680370409326723 Centerline is valid? [True, True] Translation: X:76.00, Y:-5.42, Z:-1.36 [[ 9.99270999e-01 3.76784969e-02 6.14831189e-03 7.59994513e+01] [-3.76761887e-02 9.99289880e-01 -4.90858526e-04 -5.42153902e+00] [-6.16244066e-03 2.58855730e-04 9.99980978e-01 -1.36023895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342414037 meters 0.07667569951671842 Centerline is valid? [True, True] Translation: X:76.06, Y:-5.43, Z:-1.36 [[ 9.99330832e-01 3.60454176e-02 6.21419844e-03 7.60577523e+01] [-3.60430235e-02 9.99350116e-01 -4.96870557e-04 -5.43280625e+00] [-6.22806983e-03 2.72559567e-04 9.99980568e-01 -1.36107953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40241403699999 meters 0.07733735319564838 Centerline is valid? [True, True] Translation: X:76.12, Y:-5.45, Z:-1.36 [[ 9.99429830e-01 3.32158294e-02 6.06005571e-03 7.61158653e+01] [-3.32135022e-02 9.99448162e-01 -4.84282752e-04 -5.44591313e+00] [-6.07279740e-03 2.82730954e-04 9.99981520e-01 -1.36324302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46241403699999 meters 0.07702893698218788 Centerline is valid? [True, True] Translation: X:76.18, Y:-5.45, Z:-1.37 [[ 9.99516567e-01 3.08985602e-02 3.45139154e-03 7.61753122e+01] [-3.08977946e-02 9.99522511e-01 -2.74940533e-04 -5.45478933e+00] [-3.45823880e-03 1.68167231e-04 9.99994006e-01 -1.36657234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52241403699999 meters 0.07879639557243764 Centerline is valid? [True, True] Translation: X:76.23, Y:-5.47, Z:-1.37 [[ 9.99587048e-01 2.87168850e-02 1.03636150e-03 7.62327527e+01] [-2.87168138e-02 9.99587584e-01 -8.35445744e-05 -5.47125762e+00] [-1.03833322e-03 5.37490744e-05 9.99999459e-01 -1.37366693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58241403699999 meters 0.07891321504695799 Centerline is valid? [True, True] Translation: X:76.29, Y:-5.48, Z:-1.37 [[ 9.99580803e-01 2.88492490e-02 2.43702315e-03 7.62904296e+01] [-2.88488572e-02 9.99583766e-01 -1.95791343e-04 -5.48320818e+00] [-2.44165721e-03 1.25403936e-04 9.99997011e-01 -1.37496456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642414037 meters 0.07692231583206965 Centerline is valid? [True, True] Translation: X:76.35, Y:-5.49, Z:-1.37 [[ 9.99548205e-01 3.00296456e-02 1.26713427e-03 7.63494953e+01] [-3.00295391e-02 9.99549006e-01 -1.02981691e-04 -5.48563548e+00] [-1.26965530e-03 6.48837062e-05 9.99999192e-01 -1.37273035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702414037 meters 0.07736577349804434 Centerline is valid? [True, True] Translation: X:76.41, Y:-5.50, Z:-1.38 [[ 9.99462995e-01 3.27098985e-02 1.94507069e-03 7.64072678e+01] [-3.27096580e-02 9.99464884e-01 -1.55355017e-04 -5.49754197e+00] [-1.94911150e-03 9.16489933e-05 9.99998096e-01 -1.37699656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76241403699999 meters 0.07634619902175098 Centerline is valid? [True, True] Translation: X:76.47, Y:-5.50, Z:-1.38 [[ 9.99402480e-01 3.43992194e-02 3.37306851e-03 7.64670546e+01] [-3.43985106e-02 9.99408160e-01 -2.67959065e-04 -5.50198542e+00] [-3.38028978e-03 1.51770421e-04 9.99994275e-01 -1.37645426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82241403699999 meters 0.07591295008752597 Centerline is valid? [True, True] Translation: X:76.53, Y:-5.51, Z:-1.38 [[ 9.99310810e-01 3.68887995e-02 4.13769905e-03 7.65266185e+01] [-3.68877550e-02 9.99319361e-01 -3.28489607e-04 -5.50978977e+00] [-4.14700035e-03 1.75632787e-04 9.99991386e-01 -1.37842079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88241403699999 meters 0.07626971223311313 Centerline is valid? [True, True] Translation: X:76.58, Y:-5.52, Z:-1.38 [[ 9.99271059e-01 3.81320298e-02 1.81635506e-03 7.65833145e+01] [-3.81318258e-02 9.99272707e-01 -1.46772845e-04 -5.51945940e+00] [-1.82063079e-03 7.74049210e-05 9.99998340e-01 -1.38234100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94241403699999 meters 0.0755654082103918 Centerline is valid? [True, True] Translation: X:76.64, Y:-5.53, Z:-1.38 [[ 9.99295687e-01 3.74874818e-02 1.67860792e-03 7.66417317e+01] [-3.74873074e-02 9.99297095e-01 -1.35213484e-04 -5.52785467e+00] [-1.68249683e-03 7.21917600e-05 9.99998582e-01 -1.38071516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002414037 meters 0.07588610214070299 Centerline is valid? [True, True] Translation: X:76.70, Y:-5.54, Z:-1.38 [[ 9.99317465e-01 3.68167748e-02 3.02143109e-03 7.66991241e+01] [-3.68162120e-02 9.99322024e-01 -2.41716968e-04 -5.53996587e+00] [-3.02828188e-03 1.30314340e-04 9.99995406e-01 -1.38225754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062414037 meters 0.07797378086234469 Centerline is valid? [True, True] Translation: X:76.76, Y:-5.55, Z:-1.39 [[ 9.99391268e-01 3.47350854e-02 3.25066291e-03 7.67557250e+01] [-3.47344248e-02 9.99396544e-01 -2.59469176e-04 -5.55368468e+00] [-3.25771396e-03 1.46401323e-04 9.99994683e-01 -1.38860369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12241403699998 meters 0.07744855110713814 Centerline is valid? [True, True] Translation: X:76.82, Y:-5.56, Z:-1.39 [[ 9.99459237e-01 3.28134476e-02 2.12400114e-03 7.68152126e+01] [-3.28131630e-02 9.99461489e-01 -1.68717655e-04 -5.56106250e+00] [-2.12839355e-03 9.89312237e-05 9.99997730e-01 -1.38949222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18241403699999 meters 0.07907948644081385 Centerline is valid? [True, True] Translation: X:76.87, Y:-5.58, Z:-1.39 [[ 9.99599864e-01 2.82660465e-02 1.06902806e-03 7.68745233e+01] [-2.82659723e-02 9.99600434e-01 -8.44130203e-05 -5.57777636e+00] [-1.07098693e-03 5.41621262e-05 9.99999425e-01 -1.39484501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24241403699999 meters 0.07945467407607922 Centerline is valid? [True, True] Translation: X:76.93, Y:-5.59, Z:-1.40 [[ 9.99653249e-01 2.62259954e-02 2.36216139e-03 7.69330287e+01] [-2.62256230e-02 9.99656031e-01 -1.88483728e-04 -5.58824790e+00] [-2.36629206e-03 1.26469217e-04 9.99997192e-01 -1.39553160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30241403699999 meters 0.07939479473483385 Centerline is valid? [True, True] Translation: X:76.99, Y:-5.60, Z:-1.40 [[ 9.99608621e-01 2.76045336e-02 4.53806317e-03 7.69926900e+01] [-2.76031914e-02 9.99618895e-01 -3.58150304e-04 -5.59619524e+00] [-4.54622026e-03 2.32745106e-04 9.99989639e-01 -1.39585319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362414037 meters 0.07913610326790983 Centerline is valid? [True, True] Translation: X:77.05, Y:-5.60, Z:-1.40 [[ 9.99584326e-01 2.85390598e-02 4.08623845e-03 7.70513370e+01] [-2.85379732e-02 9.99592657e-01 -3.23989272e-04 -5.60347201e+00] [-4.09382030e-03 2.07241635e-04 9.99991599e-01 -1.39818097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422414037 meters 0.07997402698436644 Centerline is valid? [True, True] Translation: X:77.11, Y:-5.61, Z:-1.40 [[ 9.99558787e-01 2.94855611e-02 3.58219227e-03 7.71086626e+01] [-2.94847303e-02 9.99565190e-01 -2.84546470e-04 -5.61103356e+00] [-3.58902471e-03 1.78800952e-04 9.99993543e-01 -1.40138286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482414037 meters 0.08084613869357699 Centerline is valid? [True, True] Translation: X:77.17, Y:-5.62, Z:-1.40 [[ 9.99588573e-01 2.84505262e-02 3.64036156e-03 7.71670814e+01] [-2.84496645e-02 9.99595185e-01 -2.88272951e-04 -5.62055837e+00] [-3.64708940e-03 1.84587283e-04 9.99993332e-01 -1.40416649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54241403699999 meters 0.08085834283117932 Centerline is valid? [True, True] Translation: X:77.23, Y:-5.63, Z:-1.41 [[ 9.99625577e-01 2.72086432e-02 2.89747001e-03 7.72265647e+01] [-2.72080943e-02 9.99629765e-01 -2.28719016e-04 -5.62839440e+00] [-2.90262040e-03 1.49798741e-04 9.99995776e-01 -1.40692452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60241403699999 meters 0.07790022052880809 Centerline is valid? [True, True] Translation: X:77.29, Y:-5.63, Z:-1.40 [[ 9.99644464e-01 2.65354989e-02 2.61018206e-03 7.72857243e+01] [-2.65350479e-02 9.99647862e-01 -2.07277927e-04 -5.62725542e+00] [-2.61476314e-03 1.37942927e-04 9.99996572e-01 -1.40350765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66241403699999 meters 0.07834898583117797 Centerline is valid? [True, True] Translation: X:77.34, Y:-5.64, Z:-1.40 [[ 9.99674519e-01 2.52078595e-02 3.92673662e-03 7.73437421e+01] [-2.52068345e-02 9.99682209e-01 -3.10318907e-04 -5.63611819e+00] [-3.93331122e-03 2.11237304e-04 9.99992242e-01 -1.40428518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722414037 meters 0.07807746903276332 Centerline is valid? [True, True] Translation: X:77.40, Y:-5.64, Z:-1.41 [[ 9.99758850e-01 2.16853485e-02 3.46232385e-03 7.74034502e+01] [-2.16845359e-02 9.99764826e-01 -2.72061773e-04 -5.64394086e+00] [-3.46740936e-03 1.96917280e-04 9.99993969e-01 -1.40555859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782414037 meters 0.079421394232651 Centerline is valid? [True, True] Translation: X:77.46, Y:-5.66, Z:-1.41 [[ 9.99833499e-01 1.70985047e-02 6.37303964e-03 7.74613592e+01] [-1.70956644e-02 9.99853733e-01 -4.99888612e-04 -5.65796384e+00] [-6.38065483e-03 3.90854032e-04 9.99979567e-01 -1.40661554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842414037 meters 0.08271608210639277 Centerline is valid? [True, True] Translation: X:77.52, Y:-5.67, Z:-1.41 [[ 9.99931158e-01 1.05259101e-02 5.18495897e-03 7.75197578e+01] [-1.05239399e-02 9.99944539e-01 -4.07125211e-04 -5.67288879e+00] [-5.18895677e-03 3.52530988e-04 9.99986475e-01 -1.41102760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90241403699999 meters 0.08238677757498129 Centerline is valid? [True, True] Translation: X:77.58, Y:-5.68, Z:-1.41 [[ 9.99968581e-01 7.01009651e-03 3.70065982e-03 7.75798981e+01] [-7.00907134e-03 9.99975394e-01 -2.89919622e-04 -5.68076792e+00] [-3.70260112e-03 2.63972325e-04 9.99993111e-01 -1.41439982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96241403699999 meters 0.0838938844819193 Centerline is valid? [True, True] Translation: X:77.64, Y:-5.69, Z:-1.42 [[ 9.99980171e-01 3.88597310e-03 4.95554580e-03 7.76399820e+01] [-3.88409848e-03 9.99992382e-01 -3.87856723e-04 -5.69051568e+00] [-4.95701524e-03 3.68601204e-04 9.99987646e-01 -1.41621291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02241403699999 meters 0.08568115970823491 Centerline is valid? [True, True] Translation: X:77.70, Y:-5.70, Z:-1.42 [[ 9.99983863e-01 1.55399364e-03 5.46427948e-03 7.76996496e+01] [-1.55168337e-03 9.99998705e-01 -4.27007393e-04 -5.69976962e+00] [-5.46493597e-03 4.18521671e-04 9.99984980e-01 -1.41792072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08241403699999 meters 0.08725575267346518 Centerline is valid? [True, True] Translation: X:77.76, Y:-5.71, Z:-1.42 [[ 9.99971080e-01 1.40415518e-03 7.47440614e-03 7.77598410e+01] [-1.39985652e-03 9.99998852e-01 -5.80318305e-04 -5.70967348e+00] [-7.47521242e-03 5.69838426e-04 9.99971898e-01 -1.42103827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142414037 meters 0.0847944445359541 Centerline is valid? [True, True] Translation: X:77.82, Y:-5.71, Z:-1.42 [[ 9.99961510e-01 1.93892411e-03 8.55676982e-03 7.78222319e+01] [-1.93325130e-03 9.99997906e-01 -6.71182682e-04 -5.70775201e+00] [-8.55805327e-03 6.54614462e-04 9.99963165e-01 -1.41953517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202414037 meters 0.08339335070424024 Centerline is valid? [True, True] Translation: X:77.88, Y:-5.71, Z:-1.42 [[ 9.99965460e-01 3.10213904e-03 7.71071515e-03 7.78846408e+01] [-3.09756500e-03 9.99995019e-01 -6.05078045e-04 -5.70639647e+00] [-7.71255379e-03 5.81172704e-04 9.99970089e-01 -1.42240363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26241403699999 meters 0.08452036004248163 Centerline is valid? [True, True] Translation: X:77.95, Y:-5.71, Z:-1.43 [[ 9.99977948e-01 2.34074009e-03 6.21484190e-03 7.79462719e+01] [-2.33775410e-03 9.99997149e-01 -4.87682640e-04 -5.71178091e+00] [-6.21596572e-03 4.73143113e-04 9.99980569e-01 -1.42723642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32241403699999 meters 0.08324577799735317 Centerline is valid? [True, True] Translation: X:78.01, Y:-5.71, Z:-1.43 [[ 9.99977191e-01 -1.11600601e-04 6.75311898e-03 7.80072155e+01] [ 1.15196036e-04 9.99999852e-01 -5.32024373e-04 -5.71089085e+00] [-6.75305861e-03 5.32790170e-04 9.99977056e-01 -1.42846975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38241403699999 meters 0.0837081717274266 Centerline is valid? [True, True] Translation: X:78.07, Y:-5.71, Z:-1.43 [[ 9.99972017e-01 -3.65695375e-03 6.52627570e-03 7.80680294e+01] [ 3.66039002e-03 9.99993168e-01 -5.14661663e-04 -5.71247769e+00] [-6.52434902e-03 5.38535976e-04 9.99978571e-01 -1.42929934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44241403699999 meters 0.08472707394783079 Centerline is valid? [True, True] Translation: X:78.13, Y:-5.72, Z:-1.43 [[ 9.99958156e-01 -5.56880766e-03 7.25769030e-03 7.81292852e+01] [ 5.57310112e-03 9.99984307e-01 -5.71482824e-04 -5.71692719e+00] [-7.25439393e-03 6.11906753e-04 9.99973499e-01 -1.43219222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502414037 meters 0.0904496897996645 Centerline is valid? [True, True] Translation: X:78.19, Y:-5.73, Z:-1.44 [[ 9.99939420e-01 -7.51727421e-03 8.04035818e-03 7.81885431e+01] [ 7.52261340e-03 9.99971504e-01 -6.34011799e-04 -5.72945335e+00] [-8.03536302e-03 6.94457896e-04 9.99967475e-01 -1.43685661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562414037 meters 0.08646142205760536 Centerline is valid? [True, True] Translation: X:78.25, Y:-5.72, Z:-1.44 [[ 9.99931512e-01 -9.03832671e-03 7.43503420e-03 7.82513607e+01] [ 9.04293094e-03 9.99958940e-01 -5.85876576e-04 -5.71676939e+00] [-7.42943358e-03 6.53070951e-04 9.99972188e-01 -1.43571139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62241403699998 meters 0.09124347610733212 Centerline is valid? [True, True] Translation: X:78.31, Y:-5.72, Z:-1.44 [[ 9.99917072e-01 -1.16504331e-02 5.48786907e-03 7.83102237e+01] [ 1.16529878e-02 9.99932008e-01 -4.33765116e-04 -5.72412262e+00] [-5.48244239e-03 4.97679216e-04 9.99984847e-01 -1.44182090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68241403699999 meters 0.08906632989881698 Centerline is valid? [True, True] Translation: X:78.37, Y:-5.72, Z:-1.44 [[ 9.99853461e-01 -1.64211979e-02 4.83746332e-03 7.83714660e+01] [ 1.64232365e-02 9.99865057e-01 -3.81987845e-04 -5.71867577e+00] [-4.83053784e-03 4.61378673e-04 9.99988226e-01 -1.44258764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74241403699999 meters 0.09357549561302901 Centerline is valid? [True, True] Translation: X:78.43, Y:-5.73, Z:-1.45 [[ 9.99755539e-01 -2.09655023e-02 7.02210340e-03 7.84309259e+01] [ 2.09698931e-02 9.99779955e-01 -5.52234261e-04 -5.72534492e+00] [-7.00898035e-03 6.99352019e-04 9.99975192e-01 -1.44516439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80241403699999 meters 0.09069093762456669 Centerline is valid? [True, True] Translation: X:78.49, Y:-5.72, Z:-1.45 [[ 9.99705491e-01 -2.27040655e-02 8.57065640e-03 7.84931947e+01] [ 2.27106898e-02 9.99741850e-01 -6.76360613e-04 -5.72028650e+00] [-8.55308775e-03 8.70806939e-04 9.99963043e-01 -1.44502090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862414037 meters 0.09246563101667832 Centerline is valid? [True, True] Translation: X:78.55, Y:-5.72, Z:-1.45 [[ 9.99710852e-01 -2.27903124e-02 7.66903326e-03 7.85540244e+01] [ 2.27956162e-02 9.99739963e-01 -6.04881418e-04 -5.72224044e+00] [-7.65325360e-03 7.79526857e-04 9.99970410e-01 -1.44928075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922414037 meters 0.09331491455626371 Centerline is valid? [True, True] Translation: X:78.62, Y:-5.72, Z:-1.45 [[ 9.99765688e-01 -2.09675690e-02 5.37866683e-03 7.86160612e+01] [ 2.09701470e-02 9.99780013e-01 -4.23348988e-04 -5.71924370e+00] [-5.36860699e-03 5.36041226e-04 9.99985445e-01 -1.45264795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982414037 meters 0.09329935422903543 Centerline is valid? [True, True] Translation: X:78.68, Y:-5.72, Z:-1.46 [[ 9.99828719e-01 -1.79012984e-02 4.69849894e-03 7.86769981e+01] [ 1.79032425e-02 9.99839655e-01 -3.72031607e-04 -5.71707901e+00] [-4.69108570e-03 4.56086251e-04 9.99988893e-01 -1.45882660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04241403699999 meters 0.09277424320756966 Centerline is valid? [True, True] Translation: X:78.74, Y:-5.72, Z:-1.46 [[ 9.99842254e-01 -1.70229128e-02 5.06834023e-03 7.87385468e+01] [ 1.70251588e-02 9.99854981e-01 -4.00327066e-04 -5.71534222e+00] [-5.06079049e-03 4.86553213e-04 9.99987076e-01 -1.46112437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10241403699999 meters 0.08977176142697962 Centerline is valid? [True, True] Translation: X:78.80, Y:-5.71, Z:-1.46 [[ 9.99821480e-01 -1.75460594e-02 7.01026357e-03 7.88024426e+01] [ 1.75503598e-02 9.99845828e-01 -5.52391147e-04 -5.70649940e+00] [-6.99949050e-03 6.75325182e-04 9.99975275e-01 -1.46153147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16241403699999 meters 0.09287995678702941 Centerline is valid? [True, True] Translation: X:78.86, Y:-5.71, Z:-1.46 [[ 9.99781002e-01 -1.93877753e-02 7.87795812e-03 7.88622428e+01] [ 1.93932958e-02 9.99811737e-01 -6.24958207e-04 -5.71136542e+00] [-7.86435844e-03 7.77600915e-04 9.99968773e-01 -1.46422058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222414037 meters 0.09421346920531272 Centerline is valid? [True, True] Translation: X:78.92, Y:-5.71, Z:-1.46 [[ 9.99736850e-01 -2.06332410e-02 1.00249533e-02 7.89240541e+01] [ 2.06422139e-02 9.99786613e-01 -7.92391828e-04 -5.71262072e+00] [-1.00064645e-02 9.99120541e-04 9.99949435e-01 -1.46410987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282414037 meters 0.09449215329782583 Centerline is valid? [True, True] Translation: X:78.99, Y:-5.71, Z:-1.47 [[ 9.99748960e-01 -2.03870870e-02 9.29433204e-03 7.89873718e+01] [ 2.03947994e-02 9.99791734e-01 -7.35763120e-04 -5.71454593e+00] [-9.27739628e-03 9.25134451e-04 9.99956536e-01 -1.46619364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342414037 meters 0.09383108724726114 Centerline is valid? [True, True] Translation: X:79.05, Y:-5.71, Z:-1.47 [[ 9.99785522e-01 -1.96075255e-02 6.66744555e-03 7.90508306e+01] [ 1.96114749e-02 9.99807537e-01 -5.27471080e-04 -5.71288328e+00] [-6.65581991e-03 6.58116390e-04 9.99977633e-01 -1.47034510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40241403699999 meters 0.095362941902554 Centerline is valid? [True, True] Translation: X:79.11, Y:-5.72, Z:-1.47 [[ 9.99812245e-01 -1.86252156e-02 5.34563109e-03 7.91117965e+01] [ 1.86277478e-02 9.99826398e-01 -4.24292425e-04 -5.71854431e+00] [-5.33680054e-03 5.23789830e-04 9.99985622e-01 -1.47489192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46241403699999 meters 0.09376338740539972 Centerline is valid? [True, True] Translation: X:79.17, Y:-5.71, Z:-1.48 [[ 9.99840478e-01 -1.66059215e-02 6.57739968e-03 7.91732981e+01] [ 1.66097236e-02 9.99861912e-01 -5.23848963e-04 -5.71495317e+00] [-6.56779243e-03 6.33014188e-04 9.99978231e-01 -1.47513015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52241403699999 meters 0.0934612825981272 Centerline is valid? [True, True] Translation: X:79.23, Y:-5.72, Z:-1.48 [[ 9.99852789e-01 -1.52268462e-02 7.90849986e-03 7.92342405e+01] [ 1.52323012e-02 9.99883783e-01 -6.29988388e-04 -5.71701378e+00] [-7.89798802e-03 7.50360298e-04 9.99968529e-01 -1.47713471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58241403699999 meters 0.08998079024063768 Centerline is valid? [True, True] Translation: X:79.30, Y:-5.71, Z:-1.48 [[ 9.99846428e-01 -1.45674699e-02 9.74209942e-03 7.92962615e+01] [ 1.45757152e-02 9.99893468e-01 -7.75892463e-04 -5.71368388e+00] [-9.72975878e-03 9.17771375e-04 9.99952244e-01 -1.47652436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642414037 meters 0.08924280951222913 Centerline is valid? [True, True] Translation: X:79.36, Y:-5.71, Z:-1.48 [[ 9.99872557e-01 -1.29452419e-02 9.34295800e-03 7.93580853e+01] [ 1.29527536e-02 9.99915833e-01 -7.43935605e-04 -5.71374851e+00] [-9.33254120e-03 8.64857828e-04 9.99956077e-01 -1.47747476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702414037 meters 0.09003991806370551 Centerline is valid? [True, True] Translation: X:79.42, Y:-5.72, Z:-1.48 [[ 9.99904333e-01 -1.18881811e-02 7.07085079e-03 7.94197617e+01] [ 1.18924535e-02 9.99929124e-01 -5.62480488e-04 -5.71874719e+00] [-7.06366277e-03 6.46516441e-04 9.99974843e-01 -1.48107068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76241403699999 meters 0.09087642203255274 Centerline is valid? [True, True] Translation: X:79.48, Y:-5.73, Z:-1.49 [[ 9.99917219e-01 -1.12377487e-02 6.26646257e-03 7.94820385e+01] [ 1.12410896e-02 9.99936693e-01 -4.98182982e-04 -5.72511581e+00] [-6.26046740e-03 5.68583609e-04 9.99980241e-01 -1.48637162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82241403699999 meters 0.08953878099400953 Centerline is valid? [True, True] Translation: X:79.54, Y:-5.73, Z:-1.49 [[ 9.99908289e-01 -1.02381678e-02 8.86530340e-03 7.95426343e+01] [ 1.02448532e-02 9.99947269e-01 -7.09029470e-04 -5.72584049e+00] [-8.85757676e-03 7.99788176e-04 9.99960451e-01 -1.48601060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88241403699999 meters 0.08985984704104862 Centerline is valid? [True, True] Translation: X:79.60, Y:-5.73, Z:-1.49 [[ 9.99934086e-01 -8.08545506e-03 8.15167958e-03 7.96036280e+01] [ 8.09103280e-03 9.99967055e-01 -6.51498262e-04 -5.73029463e+00] [-8.14614336e-03 7.17410826e-04 9.99966562e-01 -1.48878020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94241403699999 meters 0.08923014661196045 Centerline is valid? [True, True] Translation: X:79.66, Y:-5.73, Z:-1.49 [[ 9.99970043e-01 -3.66860894e-03 6.81578016e-03 7.96646000e+01] [ 3.67240678e-03 9.99993108e-01 -5.44780543e-04 -5.73329924e+00] [-6.81373460e-03 5.69794540e-04 9.99976624e-01 -1.49264985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002414037 meters 0.08761115411325007 Centerline is valid? [True, True] Translation: X:79.73, Y:-5.73, Z:-1.49 [[ 9.99969553e-01 1.58416186e-03 7.64091027e-03 7.97253224e+01] [-1.57953945e-03 9.99998566e-01 -6.10951798e-04 -5.73343028e+00] [-7.64186716e-03 5.98864077e-04 9.99970621e-01 -1.49458833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062414037 meters 0.10153540320022346 Centerline is valid? [True, False] Translation: X:79.81, Y:-5.74, Z:-1.49 [[ 9.99977347e-01 5.80952993e-03 3.39932663e-03 7.98105240e+01] [-5.80539106e-03 9.99982397e-01 -1.22615997e-03 -5.73739128e+00] [-3.40639021e-03 1.20639777e-03 9.99993471e-01 -1.49300014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12241403699998 meters 0.0828406066303837 Centerline is valid? [False, True] Translation: X:79.76, Y:-5.73, Z:-1.49 [[ 9.99934514e-01 1.10749266e-02 2.88349519e-03 7.97598196e+01] [-1.10829714e-02 9.99934692e-01 2.78906728e-03 -5.73448593e+00] [-2.85241816e-03 -2.82084233e-03 9.99991953e-01 -1.49304169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18241403699999 meters 0.0821214705156987 Centerline is valid? [True, True] Translation: X:79.82, Y:-5.74, Z:-1.49 [[ 9.99886807e-01 1.45759112e-02 3.73031987e-03 7.98200896e+01] [-1.45749232e-02 9.99893738e-01 -2.91909773e-04 -5.73594849e+00] [-3.73417832e-03 2.37507606e-04 9.99993000e-01 -1.49337100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24241403699999 meters 0.07945023864630117 Centerline is valid? [True, True] Translation: X:79.88, Y:-5.73, Z:-1.49 [[ 9.99769300e-01 2.09896009e-02 4.55897251e-03 7.98804125e+01] [-2.09881891e-02 9.99779660e-01 -3.57312682e-04 -5.73313035e+00] [-4.56546784e-03 2.61545673e-04 9.99989544e-01 -1.49160073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30241403699999 meters 0.07877339539929487 Centerline is valid? [True, True] Translation: X:79.94, Y:-5.74, Z:-1.49 [[ 9.99655855e-01 2.61177392e-02 2.45662010e-03 7.99399327e+01] [-2.61173438e-02 9.99658865e-01 -1.92920855e-04 -5.73660344e+00] [-2.46082071e-03 1.28694071e-04 9.99996964e-01 -1.49429576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362414037 meters 0.0789303435261528 Centerline is valid? [True, True] Translation: X:80.00, Y:-5.74, Z:-1.50 [[ 9.99585044e-01 2.86726747e-02 2.75997585e-03 7.99984581e+01] [-2.86721855e-02 9.99588845e-01 -2.16631327e-04 -5.74375064e+00] [-2.76505247e-03 1.37406895e-04 9.99996168e-01 -1.49803328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422414037 meters 0.07840003829143374 Centerline is valid? [True, True] Translation: X:80.06, Y:-5.75, Z:-1.50 [[ 9.99606830e-01 2.78474391e-02 3.27205892e-03 8.00575240e+01] [-2.78467449e-02 9.99612171e-01 -2.57513642e-04 -5.74762788e+00] [-3.27796102e-03 1.66296205e-04 9.99994614e-01 -1.49704291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48241403699998 meters 0.07966996551651512 Centerline is valid? [True, True] Translation: X:80.12, Y:-5.76, Z:-1.50 [[ 9.99680913e-01 2.52552606e-02 4.94118165e-04 8.01158707e+01] [-2.52552444e-02 9.99681035e-01 -3.91110612e-05 -5.75905336e+00] [-4.94948318e-04 2.66195064e-05 9.99999877e-01 -1.50170917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54241403699999 meters 0.07953735222934424 Centerline is valid? [True, True] Translation: X:80.18, Y:-5.77, Z:-1.50 [[ 9.99755828e-01 2.19759549e-02 2.31108404e-03 8.01751686e+01] [-2.19755943e-02 9.99758491e-01 -1.81313418e-04 -5.76871413e+00] [-2.31451043e-03 1.30481701e-04 9.99997313e-01 -1.50019785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60241403699999 meters 0.08010970322694112 Centerline is valid? [True, True] Translation: X:80.23, Y:-5.78, Z:-1.50 [[ 9.99801770e-01 1.97308925e-02 2.66698368e-03 8.02340696e+01] [-1.97304050e-02 9.99805315e-01 -2.08971145e-04 -5.77809820e+00] [-2.67058764e-03 1.56309053e-04 9.99996422e-01 -1.50147455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66241403699999 meters 0.07889984937086517 Centerline is valid? [True, True] Translation: X:80.29, Y:-5.78, Z:-1.50 [[ 9.99812456e-01 1.93630356e-02 3.55134293e-04 8.02931986e+01] [-1.93630264e-02 9.99812519e-01 -2.93657738e-05 -5.77990141e+00] [-3.55636323e-04 2.24837917e-05 9.99999937e-01 -1.50228551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722414037 meters 0.08080084943463288 Centerline is valid? [True, True] Translation: X:80.35, Y:-5.80, Z:-1.51 [[ 9.99763177e-01 2.16900893e-02 -1.76935737e-03 8.03493857e+01] [-2.16898845e-02 9.99764738e-01 1.34872589e-04 -5.79651093e+00] [ 1.77186651e-03 -9.64634911e-05 9.99998426e-01 -1.51158887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782414037 meters 0.07920197371569884 Centerline is valid? [True, True] Translation: X:80.41, Y:-5.80, Z:-1.51 [[ 9.99631474e-01 2.71427377e-02 4.32555402e-04 8.04095294e+01] [-2.71427256e-02 9.99631568e-01 -3.39821634e-05 -5.79865680e+00] [-4.33318404e-04 2.22289076e-05 9.99999906e-01 -1.51145217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842414037 meters 0.07721055466384932 Centerline is valid? [True, True] Translation: X:80.47, Y:-5.80, Z:-1.51 [[ 9.99481778e-01 3.21697880e-02 1.13122308e-03 8.04702385e+01] [-3.21697089e-02 9.99482417e-01 -8.80984885e-05 -5.79806148e+00] [-1.13347169e-03 5.16617169e-05 9.99999356e-01 -1.51117875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90241403699999 meters 0.07771197014155878 Centerline is valid? [True, True] Translation: X:80.53, Y:-5.81, Z:-1.52 [[ 9.99463974e-01 3.27049571e-02 1.46619256e-03 8.05277867e+01] [-3.27048219e-02 9.99465047e-01 -1.16106567e-04 -5.80814438e+00] [-1.46920548e-03 6.80927643e-05 9.99998918e-01 -1.51623996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96241403699999 meters 0.07753200462686996 Centerline is valid? [True, True] Translation: X:80.59, Y:-5.82, Z:-1.52 [[ 9.99499299e-01 3.16399931e-02 -2.49575150e-04 8.05865922e+01] [-3.16399897e-02 9.99499330e-01 1.77567302e-05 -5.81567853e+00] [ 2.50012018e-04 -9.85128424e-06 9.99999969e-01 -1.51897417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02241403699999 meters 0.07851925247658624 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.82, Z:-1.52 [[ 9.99624553e-01 2.73819317e-02 9.91493563e-04 8.06454775e+01] [-2.73818681e-02 9.99625043e-01 -7.76190485e-05 -5.82451922e+00] [-9.93247156e-04 5.04409607e-05 9.99999505e-01 -1.52033895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08241403699999 meters 0.0793898896761983 Centerline is valid? [True, True] Translation: X:80.71, Y:-5.83, Z:-1.52 [[ 9.99710233e-01 2.40480621e-02 1.06780144e-03 8.07051469e+01] [-2.40479866e-02 9.99710802e-01 -8.35090689e-05 -5.83313241e+00] [-1.06950087e-03 5.78063959e-05 9.99999426e-01 -1.52185053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142414037 meters 0.0791118391158723 Centerline is valid? [True, True] Translation: X:80.77, Y:-5.84, Z:-1.52 [[ 9.99823092e-01 1.88030185e-02 4.80044328e-04 8.07655089e+01] [-1.88030028e-02 9.99823207e-01 -3.72752706e-05 -5.84089731e+00] [-4.80660347e-04 2.82424015e-05 9.99999884e-01 -1.52385199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202414037 meters 0.08102381442496841 Centerline is valid? [True, True] Translation: X:80.82, Y:-5.85, Z:-1.53 [[ 9.99897444e-01 1.43186433e-02 2.79920447e-04 8.08238864e+01] [-1.43186376e-02 9.99897483e-01 -2.23270776e-05 -5.85187190e+00] [-2.80211444e-04 1.83167083e-05 9.99999961e-01 -1.52649219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26241403699999 meters 0.08228518758357543 Centerline is valid? [True, True] Translation: X:80.88, Y:-5.86, Z:-1.53 [[ 9.99940398e-01 1.08517163e-02 -1.20016837e-03 8.08838903e+01] [-1.08516124e-02 9.99941115e-01 9.30999895e-05 -5.85830333e+00] [ 1.20110800e-03 -8.00706786e-05 9.99999275e-01 -1.52787111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32241403699999 meters 0.0831044552683618 Centerline is valid? [True, True] Translation: X:80.94, Y:-5.87, Z:-1.53 [[ 9.99957688e-01 9.19126021e-03 -3.79381017e-04 8.09431062e+01] [-9.19125011e-03 9.99957759e-01 2.83551448e-05 -5.86720718e+00] [ 3.79625611e-04 -2.48669592e-05 9.99999928e-01 -1.53214878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38241403699999 meters 0.08361498601633074 Centerline is valid? [True, True] Translation: X:81.00, Y:-5.87, Z:-1.53 [[ 9.99979261e-01 6.43799791e-03 1.70844775e-04 8.10025710e+01] [-6.43799565e-03 9.99979276e-01 -1.37896533e-05 -5.87444528e+00] [-1.70930012e-04 1.26894694e-05 9.99999985e-01 -1.53369101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44241403699999 meters 0.08486723839704867 Centerline is valid? [True, True] Translation: X:81.06, Y:-5.88, Z:-1.54 [[ 9.99977363e-01 6.71700311e-03 3.93246569e-04 8.10607297e+01] [-6.71699101e-03 9.99977440e-01 -3.20711133e-05 -5.88169459e+00] [-3.93453119e-04 2.94289536e-05 9.99999922e-01 -1.53654184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502414037 meters 0.08575377082962947 Centerline is valid? [True, True] Translation: X:81.12, Y:-5.89, Z:-1.54 [[ 9.99974478e-01 7.02867526e-03 1.28091173e-03 8.11187262e+01] [-7.02855127e-03 9.99975294e-01 -1.01273822e-04 -5.88650690e+00] [-1.28159191e-03 9.22682830e-05 9.99999175e-01 -1.53736750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562414037 meters 0.08322326482543226 Centerline is valid? [True, True] Translation: X:81.18, Y:-5.89, Z:-1.54 [[ 9.99979383e-01 6.42087938e-03 6.98888044e-05 8.11782039e+01] [-6.42087890e-03 9.99979386e-01 -7.03933845e-06 -5.88556517e+00] [-6.99325625e-05 6.59044578e-06 9.99999998e-01 -1.53709839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62241403699998 meters 0.08518257746924449 Centerline is valid? [True, True] Translation: X:81.24, Y:-5.90, Z:-1.54 [[ 9.99985237e-01 5.29575506e-03 1.21685897e-03 8.12358808e+01] [-5.29564248e-03 9.99985973e-01 -9.57214599e-05 -5.89554964e+00] [-1.21734882e-03 8.92759967e-05 9.99999255e-01 -1.54134973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68241403699999 meters 0.08624739538292502 Centerline is valid? [True, True] Translation: X:81.30, Y:-5.90, Z:-1.54 [[ 9.99998446e-01 1.63305323e-03 6.64862391e-04 8.12955576e+01] [-1.63301904e-03 9.99998665e-01 -5.19585658e-05 -5.90144121e+00] [-6.64946355e-04 5.08727521e-05 9.99999778e-01 -1.54273616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74241403699999 meters 0.08645228124300498 Centerline is valid? [True, True] Translation: X:81.36, Y:-5.91, Z:-1.54 [[ 9.99999112e-01 -1.23405801e-03 -5.02432132e-04 8.13563027e+01] [ 1.23407767e-03 9.99999238e-01 3.88242422e-05 -5.90538907e+00] [ 5.02383837e-04 -3.94442480e-05 9.99999873e-01 -1.54418663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80241403699999 meters 0.08457273441081407 Centerline is valid? [True, True] Translation: X:81.42, Y:-5.91, Z:-1.54 [[ 9.99991252e-01 -4.15473785e-03 4.83883572e-04 8.14176666e+01] [ 4.15475625e-03 9.99991368e-01 -3.70319588e-05 -5.90547553e+00] [-4.83725537e-04 3.90420532e-05 9.99999882e-01 -1.54354152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862414037 meters 0.08941121311784085 Centerline is valid? [True, True] Translation: X:81.48, Y:-5.92, Z:-1.55 [[ 9.99981787e-01 -5.96623713e-03 -9.11182378e-04 8.14772630e+01] [ 5.96630432e-03 9.99982199e-01 7.10357227e-05 -5.91809811e+00] [ 9.10742342e-04 -7.64708203e-05 9.99999582e-01 -1.54822934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922414037 meters 0.08867083902658723 Centerline is valid? [True, True] Translation: X:81.54, Y:-5.92, Z:-1.55 [[ 9.99974095e-01 -7.16324565e-03 -7.04881689e-04 8.15386973e+01] [ 7.16328663e-03 9.99974342e-01 5.56213487e-05 -5.91983765e+00] [ 7.04465174e-04 -6.06691774e-05 9.99999750e-01 -1.55013783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98241403699998 meters 0.08997590575773835 Centerline is valid? [True, True] Translation: X:81.60, Y:-5.92, Z:-1.55 [[ 9.99950951e-01 -9.79457822e-03 -1.47008462e-03 8.15992671e+01] [ 9.79475615e-03 9.99952024e-01 1.13876881e-04 -5.92384473e+00] [ 1.46889872e-03 -1.28270416e-04 9.99998913e-01 -1.55243868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04241403699999 meters 0.08689377869780257 Centerline is valid? [True, True] Translation: X:81.66, Y:-5.92, Z:-1.55 [[ 9.99935360e-01 -1.12900951e-02 -1.34536096e-03 8.16608609e+01] [ 1.12902461e-02 9.99936258e-01 1.04703867e-04 -5.92009608e+00] [ 1.34409309e-03 -1.19886555e-04 9.99999090e-01 -1.55002384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10241403699999 meters 0.08920336377028257 Centerline is valid? [True, True] Translation: X:81.72, Y:-5.93, Z:-1.55 [[ 9.99903867e-01 -1.38541933e-02 -5.63891126e-04 8.17202280e+01] [ 1.38542201e-02 9.99904025e-01 4.36503219e-05 -5.92668118e+00] [ 5.63232266e-04 -5.14583975e-05 9.99999840e-01 -1.55321223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16241403699999 meters 0.08756275352629131 Centerline is valid? [True, True] Translation: X:81.78, Y:-5.92, Z:-1.55 [[ 9.99871432e-01 -1.60284633e-02 -4.55777198e-04 8.17816859e+01] [ 1.60284816e-02 9.99871535e-01 3.64868243e-05 -5.92469479e+00] [ 4.55133819e-04 -4.37875497e-05 9.99999895e-01 -1.55276926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222414037 meters 0.09163087643507091 Centerline is valid? [True, True] Translation: X:81.84, Y:-5.93, Z:-1.56 [[ 9.99877702e-01 -1.56366300e-02 -2.77945584e-04 8.18423350e+01] [ 1.56366370e-02 9.99877740e-01 2.32205090e-05 -5.93358741e+00] [ 2.77548512e-04 -2.75638034e-05 9.99999961e-01 -1.55805788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282414037 meters 0.09178473583995664 Centerline is valid? [True, True] Translation: X:81.90, Y:-5.94, Z:-1.56 [[ 9.99877408e-01 -1.54295221e-02 -2.66441887e-03 8.19048317e+01] [ 1.54301329e-02 9.99880927e-01 2.08830262e-04 -5.93530925e+00] [ 2.66087946e-03 -2.49916999e-04 9.99996429e-01 -1.56067721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342414037 meters 0.09260636282368469 Centerline is valid? [True, True] Translation: X:81.97, Y:-5.94, Z:-1.57 [[ 9.99883720e-01 -1.50000415e-02 -2.74681437e-03 8.19665687e+01] [ 1.50006893e-02 9.99887460e-01 2.15391209e-04 -5.93684373e+00] [ 2.74327436e-03 -2.56570272e-04 9.99996204e-01 -1.56531688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40241403699999 meters 0.09195396833697574 Centerline is valid? [True, True] Translation: X:82.03, Y:-5.94, Z:-1.57 [[ 9.99887325e-01 -1.48881665e-02 -1.91836762e-03 8.20294746e+01] [ 1.48884838e-02 9.99889149e-01 1.51220734e-04 -5.93515829e+00] [ 1.91590357e-03 -1.79765280e-04 9.99998148e-01 -1.56623997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46241403699999 meters 0.09183294724254709 Centerline is valid? [True, True] Translation: X:82.09, Y:-5.93, Z:-1.57 [[ 9.99918894e-01 -1.26948117e-02 -1.02293139e-03 8.20907020e+01] [ 1.26949001e-02 9.99919413e-01 7.99299020e-05 -5.93430596e+00] [ 1.02183426e-03 -9.29094310e-05 9.99999474e-01 -1.56725222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52241403699999 meters 0.09024723802642709 Centerline is valid? [True, True] Translation: X:82.15, Y:-5.93, Z:-1.57 [[ 9.99936344e-01 -1.12755467e-02 4.11537796e-04 8.21524242e+01] [ 1.12755606e-02 9.99936428e-01 -3.14538983e-05 -5.92955872e+00] [-4.11156974e-04 3.60922155e-05 9.99999915e-01 -1.56706624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58241403699999 meters 0.09005047904273475 Centerline is valid? [True, True] Translation: X:82.21, Y:-5.93, Z:-1.57 [[ 9.99930261e-01 -1.17991940e-02 5.01449769e-04 8.22143539e+01] [ 1.17992139e-02 9.99930386e-01 -3.68439020e-05 -5.93149126e+00] [-5.00980132e-04 4.27580456e-05 9.99999874e-01 -1.56887432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642414037 meters 0.09197230943247371 Centerline is valid? [True, True] Translation: X:82.27, Y:-5.94, Z:-1.57 [[ 9.99902709e-01 -1.39277880e-02 -7.67239286e-04 8.22742145e+01] [ 1.39278381e-02 9.99903001e-01 5.99891234e-05 -5.93849598e+00] [ 7.66329349e-04 -7.06692716e-05 9.99999704e-01 -1.57222783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702414037 meters 0.09427063013897789 Centerline is valid? [True, True] Translation: X:82.33, Y:-5.94, Z:-1.58 [[ 9.99861626e-01 -1.65376560e-02 -1.79864460e-03 8.23345894e+01] [ 1.65379345e-02 9.99863229e-01 1.40035683e-04 -5.94462138e+00] [ 1.79608274e-03 -1.69762172e-04 9.99998373e-01 -1.57519877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76241403699999 meters 0.09411785282088055 Centerline is valid? [True, True] Translation: X:82.40, Y:-5.95, Z:-1.58 [[ 9.99843106e-01 -1.77013114e-02 6.53053595e-04 8.23965619e+01] [ 1.77013470e-02 9.99843318e-01 -4.87218310e-05 -5.94867849e+00] [-6.52088833e-04 6.02741152e-05 9.99999786e-01 -1.57512456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82241403699999 meters 0.0937534167639878 Centerline is valid? [True, True] Translation: X:82.46, Y:-5.95, Z:-1.58 [[ 9.99832422e-01 -1.82479965e-02 1.46270385e-03 8.24582615e+01] [ 1.82481795e-02 9.99833482e-01 -1.11868677e-04 -5.95364390e+00] [-1.46041890e-03 1.38541612e-04 9.99998924e-01 -1.57528603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88241403699999 meters 0.09965874608050473 Centerline is valid? [True, True] Translation: X:82.52, Y:-5.97, Z:-1.58 [[ 9.99836099e-01 -1.78865619e-02 2.80100532e-03 8.25184343e+01] [ 1.78872390e-02 9.99839987e-01 -2.16890192e-04 -5.96891891e+00] [-2.79667771e-03 2.66956895e-04 9.99996054e-01 -1.58008924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94241403699999 meters 0.0920923799078421 Centerline is valid? [True, True] Translation: X:82.58, Y:-5.96, Z:-1.58 [[ 9.99879245e-01 -1.54441478e-02 1.72471419e-03 8.25805305e+01] [ 1.54444018e-02 9.99880719e-01 -1.34020596e-04 -5.95738024e+00] [-1.72243863e-03 1.60641592e-04 9.99998504e-01 -1.57746019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002414037 meters 0.09005093269651125 Centerline is valid? [True, True] Translation: X:82.64, Y:-5.96, Z:-1.58 [[ 9.99930549e-01 -1.17012112e-02 -1.40662406e-03 8.26410132e+01] [ 1.17013774e-02 9.99931530e-01 1.09986718e-04 -5.95607894e+00] [ 1.40524077e-03 -1.26438518e-04 9.99999005e-01 -1.58228512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062414037 meters 0.08935060748760712 Centerline is valid? [True, True] Translation: X:82.70, Y:-5.96, Z:-1.58 [[ 9.99958249e-01 -8.85518080e-03 -2.25526887e-03 8.27019674e+01] [ 8.85560133e-03 9.99960773e-01 1.76546456e-04 -5.95815947e+00] [ 2.25361705e-03 -1.96510847e-04 9.99997441e-01 -1.58469579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12241403699998 meters 0.09292606210110237 Centerline is valid? [True, True] Translation: X:82.76, Y:-5.97, Z:-1.59 [[ 9.99984523e-01 -5.55930874e-03 -2.17224192e-04 8.27607627e+01] [ 5.55931243e-03 9.99984547e-01 1.63796593e-05 -5.96726837e+00] [ 2.17129775e-04 -1.75870229e-05 9.99999976e-01 -1.58953416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18241403699999 meters 0.08754873582702513 Centerline is valid? [True, True] Translation: X:82.82, Y:-5.96, Z:-1.59 [[ 9.99995083e-01 -3.10256098e-03 4.55656814e-04 8.28226452e+01] [ 3.10257725e-03 9.99995186e-01 -3.50210359e-05 -5.96086669e+00] [-4.55545966e-04 3.64345742e-05 9.99999896e-01 -1.58625782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24241403699999 meters 0.08710619441557473 Centerline is valid? [True, True] Translation: X:82.88, Y:-5.96, Z:-1.59 [[ 9.99999240e-01 -1.21653202e-03 1.99063974e-04 8.28840633e+01] [ 1.21653493e-03 9.99999260e-01 -1.44590525e-05 -5.96364053e+00] [-1.99046237e-04 1.47012098e-05 9.99999980e-01 -1.58880564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30241403699999 meters 0.08624333554391847 Centerline is valid? [True, True] Translation: X:82.94, Y:-5.97, Z:-1.59 [[ 9.99997772e-01 1.97263582e-03 7.51540362e-04 8.29441368e+01] [-1.97259233e-03 9.99998053e-01 -5.86050991e-05 -5.96706535e+00] [-7.51654505e-04 5.71224857e-05 9.99999716e-01 -1.59137183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362414037 meters 0.0856068995170497 Centerline is valid? [True, True] Translation: X:83.00, Y:-5.97, Z:-1.59 [[ 9.99985846e-01 5.29257120e-03 -5.44281041e-04 8.30044524e+01] [-5.29254885e-03 9.99985993e-01 4.24965851e-05 -5.96919579e+00] [ 5.44498333e-04 -3.96153497e-05 9.99999851e-01 -1.59378338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422414037 meters 0.08568204132977651 Centerline is valid? [True, True] Translation: X:83.06, Y:-5.97, Z:-1.60 [[ 9.99938514e-01 1.10692212e-02 -6.64297758e-04 8.30631176e+01] [-1.10691902e-02 9.99938733e-01 5.03986079e-05 -5.97271672e+00] [ 6.64814932e-04 -4.30422708e-05 9.99999778e-01 -1.59735652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48241403699998 meters 0.08251322210042089 Centerline is valid? [True, True] Translation: X:83.12, Y:-5.97, Z:-1.59 [[ 9.99865024e-01 1.62667217e-02 2.30794867e-03 8.31240928e+01] [-1.62663494e-02 9.99867678e-01 -1.79989760e-04 -5.97148374e+00] [-2.31057113e-03 1.42423567e-04 9.99997320e-01 -1.59490558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54241403699999 meters 0.08045384430572709 Centerline is valid? [True, True] Translation: X:83.18, Y:-5.97, Z:-1.59 [[ 9.99814021e-01 1.90980420e-02 2.68116368e-03 8.31842384e+01] [-1.90975480e-02 9.99817603e-01 -2.09724930e-04 -5.97102198e+00] [-2.68467998e-03 1.58482273e-04 9.99996384e-01 -1.59406768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60241403699999 meters 0.07886335122483538 Centerline is valid? [True, True] Translation: X:83.24, Y:-5.97, Z:-1.60 [[ 9.99656367e-01 2.61489177e-02 1.83882713e-03 8.32443809e+01] [-2.61486965e-02 9.99658054e-01 -1.44278146e-04 -5.97173218e+00] [-1.84197107e-03 9.61456344e-05 9.99998299e-01 -1.59573522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66241403699999 meters 0.07785485207396271 Centerline is valid? [True, True] Translation: X:83.30, Y:-5.97, Z:-1.60 [[ 9.99415780e-01 3.41735932e-02 -5.14930812e-04 8.33034102e+01] [-3.41735774e-02 9.99415912e-01 3.95234056e-05 -5.97399865e+00] [ 5.15980704e-04 -2.19032873e-05 9.99999867e-01 -1.59951363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722414037 meters 0.07642919131515322 Centerline is valid? [True, True] Translation: X:83.36, Y:-5.97, Z:-1.60 [[ 9.99243271e-01 3.88926278e-02 4.97904065e-04 8.33635798e+01] [-3.88926132e-02 9.99243395e-01 -3.90434136e-05 -5.97406832e+00] [-4.99045850e-04 1.96490781e-05 9.99999875e-01 -1.59852280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782414037 meters 0.07666766740767599 Centerline is valid? [True, True] Translation: X:83.42, Y:-5.98, Z:-1.60 [[ 9.99039985e-01 4.37357950e-02 2.50784845e-03 8.34224380e+01] [-4.37354402e-02 9.99043129e-01 -1.96144049e-04 -5.98317305e+00] [-2.51402728e-03 8.62738915e-05 9.99996836e-01 -1.60270688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842414037 meters 0.0755793733210992 Centerline is valid? [True, True] Translation: X:83.48, Y:-5.99, Z:-1.60 [[ 9.98991876e-01 4.47692186e-02 3.30887141e-03 8.34812948e+01] [-4.47686033e-02 9.98997350e-01 -2.59820976e-04 -5.98900138e+00] [-3.31718576e-03 1.11425492e-04 9.99994492e-01 -1.60145980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90241403699999 meters 0.07581246533609522 Centerline is valid? [True, True] Translation: X:83.54, Y:-6.00, Z:-1.60 [[ 9.99011206e-01 4.43648015e-02 2.89401840e-03 8.35388942e+01] [-4.43643290e-02 9.99015393e-01 -2.27297516e-04 -6.00033662e+00] [-2.90125294e-03 9.86815807e-05 9.99995786e-01 -1.60433190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96241403699999 meters 0.07506581494270137 Centerline is valid? [True, True] Translation: X:83.60, Y:-6.01, Z:-1.60 [[ 9.99048548e-01 4.35393634e-02 2.51438309e-03 8.35968150e+01] [-4.35389990e-02 9.99051708e-01 -1.99520453e-04 -6.00779523e+00] [-2.52068571e-03 8.98568960e-05 9.99996819e-01 -1.60368076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02241403699999 meters 0.07639341676478985 Centerline is valid? [True, True] Translation: X:83.65, Y:-6.03, Z:-1.61 [[ 9.99166760e-01 4.07017337e-02 3.02561358e-03 8.36536619e+01] [-4.07012023e-02 9.99171335e-01 -2.37022157e-04 -6.02504657e+00] [-3.03275357e-03 1.13678550e-04 9.99995395e-01 -1.60977896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08241403699999 meters 0.07627835248429395 Centerline is valid? [True, True] Translation: X:83.71, Y:-6.03, Z:-1.61 [[ 9.99281582e-01 3.76584214e-02 4.26179656e-03 8.37120043e+01] [-3.76573448e-02 9.99290655e-01 -3.32609273e-04 -6.03437442e+00] [-4.27129902e-03 1.71882378e-04 9.99990863e-01 -1.61003738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142414037 meters 0.07779120924109718 Centerline is valid? [True, True] Translation: X:83.77, Y:-6.05, Z:-1.61 [[ 9.99499370e-01 3.15223753e-02 2.71108551e-03 8.37705973e+01] [-3.15219195e-02 9.99503039e-01 -2.10703779e-04 -6.05399893e+00] [-2.71638008e-03 1.25139675e-04 9.99996303e-01 -1.61462351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202414037 meters 0.07831317316468292 Centerline is valid? [True, True] Translation: X:83.83, Y:-6.06, Z:-1.62 [[ 9.99535099e-01 3.02554215e-02 3.76756017e-03 8.38281975e+01] [-3.02545262e-02 9.99542184e-01 -2.94418618e-04 -6.06494079e+00] [-3.77474308e-03 1.80295994e-04 9.99992859e-01 -1.61655500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26241403699999 meters 0.07815385360328374 Centerline is valid? [True, True] Translation: X:83.89, Y:-6.07, Z:-1.62 [[ 9.99536260e-01 3.00410431e-02 4.98010085e-03 8.38869351e+01] [-3.00394847e-02 9.99548638e-01 -3.87454619e-04 -6.07319436e+00] [-4.98949256e-03 2.37675277e-04 9.99987524e-01 -1.61829200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32241403699999 meters 0.07725188442362375 Centerline is valid? [True, True] Translation: X:83.95, Y:-6.08, Z:-1.62 [[ 9.99520293e-01 3.03944847e-02 5.94633027e-03 8.39453368e+01] [-3.03922738e-02 9.99537941e-01 -4.61850011e-04 -6.07848877e+00] [-5.95762041e-03 2.80905961e-04 9.99982214e-01 -1.61904958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38241403699999 meters 0.07850919246453969 Centerline is valid? [True, True] Translation: X:84.00, Y:-6.09, Z:-1.62 [[ 9.99506440e-01 3.07721619e-02 6.32070686e-03 8.40019433e+01] [-3.07696708e-02 9.99526381e-01 -4.91010676e-04 -6.09118397e+00] [-6.33282272e-03 2.96282263e-04 9.99979904e-01 -1.62344678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44241403699999 meters 0.07723856458996889 Centerline is valid? [True, True] Translation: X:84.06, Y:-6.10, Z:-1.62 [[ 9.99439568e-01 3.28750781e-02 6.30701974e-03 8.40609563e+01] [-3.28726505e-02 9.99459429e-01 -4.88214398e-04 -6.09522908e+00] [-6.31966043e-03 2.80612332e-04 9.99979991e-01 -1.62335441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502414037 meters 0.0775535508059605 Centerline is valid? [True, True] Translation: X:84.12, Y:-6.10, Z:-1.63 [[ 9.99452415e-01 3.27164568e-02 4.95003573e-03 8.41194928e+01] [-3.27149568e-02 9.99464649e-01 -3.83721445e-04 -6.10450288e+00] [-4.95993973e-03 2.21571120e-04 9.99987675e-01 -1.62715326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562414037 meters 0.07817138399999815 Centerline is valid? [True, True] Translation: X:84.18, Y:-6.12, Z:-1.63 [[ 9.99481924e-01 3.14452227e-02 6.86157751e-03 8.41765722e+01] [-3.14423169e-02 9.99505427e-01 -5.30978761e-04 -6.11677593e+00] [-6.87488070e-03 3.14959779e-04 9.99976318e-01 -1.62829891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62241403699998 meters 0.07868581064349581 Centerline is valid? [True, True] Translation: X:84.23, Y:-6.13, Z:-1.63 [[ 9.99513335e-01 3.02337812e-02 7.68186302e-03 8.42347723e+01] [-3.02301142e-02 9.99542790e-01 -5.93051239e-04 -6.12512541e+00] [-7.69628097e-03 3.60539026e-04 9.99970318e-01 -1.62990233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68241403699999 meters 0.07925045748931761 Centerline is valid? [True, True] Translation: X:84.29, Y:-6.14, Z:-1.63 [[ 9.99593879e-01 2.78827814e-02 5.88453407e-03 8.42946287e+01] [-2.78805985e-02 9.99611158e-01 -4.52677857e-04 -6.13612606e+00] [-5.89486783e-03 2.88429683e-04 9.99982584e-01 -1.63367689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74241403699999 meters 0.07991334918004188 Centerline is valid? [True, True] Translation: X:84.35, Y:-6.15, Z:-1.64 [[ 9.99640757e-01 2.62960405e-02 5.18416697e-03 8.43535178e+01] [-2.62943204e-02 9.99654165e-01 -3.99680463e-04 -6.14615253e+00] [-5.19288411e-03 2.63222733e-04 9.99986482e-01 -1.63641607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80241403699999 meters 0.078885269769838 Centerline is valid? [True, True] Translation: X:84.41, Y:-6.15, Z:-1.64 [[ 9.99712956e-01 2.32602540e-02 5.74165730e-03 8.44131826e+01] [-2.32580956e-02 9.99729396e-01 -4.42405704e-04 -6.15180707e+00] [-5.75039405e-03 3.08738699e-04 9.99983419e-01 -1.63562933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862414037 meters 0.08199077108650037 Centerline is valid? [True, True] Translation: X:84.47, Y:-6.17, Z:-1.64 [[ 9.99736114e-01 2.22888809e-02 5.55953635e-03 8.44695581e+01] [-2.22868358e-02 9.99751525e-01 -4.29552045e-04 -6.16731318e+00] [-5.56772918e-03 3.05534219e-04 9.99984453e-01 -1.64183573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922414037 meters 0.08033877305789675 Centerline is valid? [True, True] Translation: X:84.53, Y:-6.17, Z:-1.64 [[ 9.99774297e-01 2.07807148e-02 4.41776446e-03 8.45288724e+01] [-2.07794122e-02 9.99784027e-01 -3.40562993e-04 -6.16933976e+00] [-4.42388748e-03 2.48687578e-04 9.99990184e-01 -1.64125575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98241403699998 meters 0.08102932810074735 Centerline is valid? [True, True] Translation: X:84.59, Y:-6.18, Z:-1.64 [[ 9.99770508e-01 2.05579449e-02 6.02516136e-03 8.45860656e+01] [-2.05555182e-02 9.99788605e-01 -4.64417932e-04 -6.17914548e+00] [-6.03343515e-03 3.40461038e-04 9.99981741e-01 -1.64297204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04241403699999 meters 0.08176291952522004 Centerline is valid? [True, True] Translation: X:84.64, Y:-6.19, Z:-1.65 [[ 9.99794787e-01 1.99311497e-02 3.62393676e-03 8.46437965e+01] [-1.99302668e-02 9.99801333e-01 -2.79588303e-04 -6.18691762e+00] [-3.62878933e-03 2.07304902e-04 9.99993394e-01 -1.64614251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10241403699999 meters 0.08143978717144737 Centerline is valid? [True, True] Translation: X:84.70, Y:-6.19, Z:-1.65 [[ 9.99819146e-01 1.88327217e-02 2.64658397e-03 8.47035653e+01] [-1.88322484e-02 9.99822637e-01 -2.03631224e-04 -6.19057957e+00] [-2.64994949e-03 1.53753270e-04 9.99996477e-01 -1.64833331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16241403699999 meters 0.08316558741120618 Centerline is valid? [True, True] Translation: X:84.76, Y:-6.20, Z:-1.65 [[ 9.99861928e-01 1.61418850e-02 3.94509843e-03 8.47609113e+01] [-1.61408116e-02 9.99869682e-01 -3.03792229e-04 -6.20303822e+00] [-3.94948809e-03 2.40073193e-04 9.99992172e-01 -1.65117933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222414037 meters 0.081677609877639 Centerline is valid? [True, True] Translation: X:84.82, Y:-6.21, Z:-1.65 [[ 9.99880421e-01 1.43744333e-02 5.70251630e-03 8.48210214e+01] [-1.43721742e-02 9.99896619e-01 -4.36953127e-04 -6.20543874e+00] [-5.70820773e-03 3.54943319e-04 9.99983645e-01 -1.64904385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282414037 meters 0.08103156107749485 Centerline is valid? [True, True] Translation: X:84.88, Y:-6.21, Z:-1.65 [[ 9.99908609e-01 1.31643134e-02 3.07812509e-03 8.48809144e+01] [-1.31636497e-02 9.99913328e-01 -2.35775564e-04 -6.20930166e+00] [-3.08096213e-03 1.95234656e-04 9.99995235e-01 -1.65085889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342414037 meters 0.08850163135898248 Centerline is valid? [True, True] Translation: X:84.94, Y:-6.23, Z:-1.66 [[ 9.99933469e-01 1.15184271e-02 6.19740490e-04 8.49383808e+01] [-1.15183996e-02 9.99933660e-01 -4.79462328e-05 -6.23360572e+00] [-6.20251641e-04 4.08046242e-05 9.99999807e-01 -1.66242709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40241403699999 meters 0.08317390329257081 Centerline is valid? [True, True] Translation: X:85.00, Y:-6.23, Z:-1.66 [[ 9.99921630e-01 1.23984704e-02 1.73531964e-03 8.49982060e+01] [-1.23982554e-02 9.99923130e-01 -1.34610629e-04 -6.22641844e+00] [-1.73685521e-03 1.13085143e-04 9.99998485e-01 -1.65839860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46241403699999 meters 0.08249370580724232 Centerline is valid? [True, True] Translation: X:85.06, Y:-6.23, Z:-1.66 [[ 9.99890144e-01 1.46043485e-02 2.53238190e-03 8.50584508e+01] [-1.46039044e-02 9.99893339e-01 -1.93786541e-04 -6.22935852e+00] [-2.53494192e-03 1.56782589e-04 9.99996775e-01 -1.65975608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52241403699999 meters 0.08029995236972802 Centerline is valid? [True, True] Translation: X:85.12, Y:-6.23, Z:-1.66 [[ 9.99867288e-01 1.56918179e-02 4.37879830e-03 8.51184813e+01] [-1.56905003e-02 9.99876840e-01 -3.35119209e-04 -6.22846195e+00] [-4.38351764e-03 2.66369199e-04 9.99990357e-01 -1.65796419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58241403699999 meters 0.08085810590762557 Centerline is valid? [True, True] Translation: X:85.18, Y:-6.23, Z:-1.66 [[ 9.99877000e-01 1.53862440e-02 3.04106655e-03 8.51767453e+01] [-1.53856033e-02 9.99881607e-01 -2.33962682e-04 -6.23385654e+00] [-3.04430632e-03 1.87145261e-04 9.99995349e-01 -1.65937235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642414037 meters 0.0818890933327387 Centerline is valid? [True, True] Translation: X:85.24, Y:-6.24, Z:-1.67 [[ 9.99888870e-01 1.48753603e-02 9.85845766e-04 8.52350351e+01] [-1.48752919e-02 9.99889354e-01 -7.67165410e-05 -6.24166154e+00] [-9.86877873e-04 6.20432720e-05 9.99999511e-01 -1.66500991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702414037 meters 0.08163911818935762 Centerline is valid? [True, True] Translation: X:85.29, Y:-6.25, Z:-1.67 [[ 9.99915327e-01 1.30107922e-02 2.41402076e-04 8.52948049e+01] [-1.30107879e-02 9.99915356e-01 -1.94793309e-05 -6.24574085e+00] [-2.41635085e-04 1.63368503e-05 9.99999971e-01 -1.66632290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76241403699999 meters 0.08344706749926778 Centerline is valid? [True, True] Translation: X:85.35, Y:-6.25, Z:-1.67 [[ 9.99921534e-01 1.25100738e-02 6.51830053e-04 8.53522689e+01] [-1.25100423e-02 9.99921745e-01 -5.24442780e-05 -6.25382736e+00] [-6.52435126e-04 4.42857413e-05 9.99999786e-01 -1.66925335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82241403699999 meters 0.08344873448146939 Centerline is valid? [True, True] Translation: X:85.41, Y:-6.26, Z:-1.67 [[ 9.99931549e-01 1.16924205e-02 4.29632536e-04 8.54107131e+01] [-1.16924066e-02 9.99931641e-01 -3.47659281e-05 -6.25937106e+00] [-4.30009664e-04 2.97401100e-05 9.99999907e-01 -1.67121733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88241403699999 meters 0.08242219021042209 Centerline is valid? [True, True] Translation: X:85.47, Y:-6.26, Z:-1.67 [[ 9.99956243e-01 9.32698114e-03 7.21198469e-04 8.54700933e+01] [-9.32694272e-03 9.99956502e-01 -5.66103105e-05 -6.26181934e+00] [-7.21695102e-04 4.98812565e-05 9.99999738e-01 -1.67086161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94241403699999 meters 0.08626183814174064 Centerline is valid? [True, True] Translation: X:85.53, Y:-6.28, Z:-1.68 [[ 9.99984513e-01 5.54271402e-03 -5.02121120e-04 8.55281927e+01] [-5.54269557e-03 9.99984638e-01 3.81299074e-05 -6.27642132e+00] [ 5.02324750e-04 -3.53462124e-05 9.99999873e-01 -1.67629099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002414037 meters 0.08364726322614349 Centerline is valid? [True, True] Translation: X:85.59, Y:-6.28, Z:-1.67 [[ 9.99993207e-01 3.22698474e-03 -1.78140072e-03 8.55887937e+01] [-3.22675002e-03 9.99994785e-01 1.34619411e-04 -6.27598169e+00] [ 1.78182585e-03 -1.28870361e-04 9.99998404e-01 -1.67461659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062414037 meters 0.08495392174176386 Centerline is valid? [True, True] Translation: X:85.65, Y:-6.28, Z:-1.68 [[ 9.99994686e-01 2.39415328e-03 -2.21267168e-03 8.56473983e+01] [-2.39379149e-03 9.99997121e-01 1.66144428e-04 -6.28277141e+00] [ 2.21306309e-03 -1.60846871e-04 9.99997538e-01 -1.67786199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12241403699998 meters 0.08497132548312364 Centerline is valid? [True, True] Translation: X:85.71, Y:-6.29, Z:-1.68 [[ 9.99980945e-01 5.44590410e-03 -2.90718467e-03 8.57065151e+01] [-5.44528951e-03 9.99985150e-01 2.19278766e-04 -6.28637055e+00] [ 2.90833567e-03 -2.03444126e-04 9.99995750e-01 -1.68172652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18241403699999 meters 0.08316240441602431 Centerline is valid? [True, True] Translation: X:85.77, Y:-6.28, Z:-1.68 [[ 9.99938177e-01 1.11039704e-02 -5.86530179e-04 8.57675233e+01] [-1.11039463e-02 9.99938348e-01 4.42794233e-05 -6.28397318e+00] [ 5.86985696e-04 -3.77638862e-05 9.99999827e-01 -1.68069334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24241403699999 meters 0.0815231832796386 Centerline is valid? [True, True] Translation: X:85.83, Y:-6.28, Z:-1.68 [[ 9.99859885e-01 1.66970258e-02 -1.19138871e-03 8.58280052e+01] [-1.66969302e-02 9.99860592e-01 9.02031057e-05 -6.28233950e+00] [ 1.19272874e-03 -7.02979328e-05 9.99999286e-01 -1.68167842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30241403699999 meters 0.07887591548230134 Centerline is valid? [True, True] Translation: X:85.89, Y:-6.28, Z:-1.68 [[ 9.99667721e-01 2.57500177e-02 -1.17665572e-03 8.58892663e+01] [-2.57499306e-02 9.99668412e-01 8.91116358e-05 -6.27832386e+00] [ 1.17856018e-03 -5.87832227e-05 9.99999304e-01 -1.68244712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362414037 meters 0.0773817573613783 Centerline is valid? [True, True] Translation: X:85.95, Y:-6.28, Z:-1.68 [[ 9.99398100e-01 3.46902376e-02 1.57752278e-04 8.59497198e+01] [-3.46902361e-02 9.99398113e-01 -1.25065170e-05 -6.27557083e+00] [-1.58091183e-04 7.02652557e-06 9.99999987e-01 -1.68276830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422414037 meters 0.07669822462133341 Centerline is valid? [True, True] Translation: X:86.01, Y:-6.28, Z:-1.68 [[ 9.99202836e-01 3.99160038e-02 -6.36646429e-04 8.60098069e+01] [-3.99159815e-02 9.99203039e-01 4.76717452e-05 -6.27670867e+00] [ 6.38041912e-04 -2.22213759e-05 9.99999796e-01 -1.68492391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48241403699998 meters 0.07662839023549249 Centerline is valid? [True, True] Translation: X:86.07, Y:-6.28, Z:-1.69 [[ 9.99068742e-01 4.30892677e-02 -2.22779432e-03 8.60674543e+01] [-4.30890050e-02 9.99071224e-01 1.65838173e-04 -6.28156183e+00] [ 2.23287104e-03 -6.96902942e-05 9.99997505e-01 -1.68882920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54241403699999 meters 0.0761482970648604 Centerline is valid? [True, True] Translation: X:86.13, Y:-6.29, Z:-1.69 [[ 9.99084840e-01 4.26782632e-02 -2.83678717e-03 8.61263854e+01] [-4.26778326e-02 9.99088864e-01 2.12198265e-04 -6.28738488e+00] [ 2.84325872e-03 -9.09361420e-05 9.99995954e-01 -1.68882950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60241403699999 meters 0.07741550637584321 Centerline is valid? [True, True] Translation: X:86.18, Y:-6.30, Z:-1.70 [[ 9.99203502e-01 3.98799052e-02 -1.39843339e-03 8.61834373e+01] [-3.98798022e-02 9.99204479e-01 1.01477883e-04 -6.30161543e+00] [ 1.40136783e-03 -4.56278093e-05 9.99999017e-01 -1.69510235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66241403699999 meters 0.07754546824762898 Centerline is valid? [True, True] Translation: X:86.24, Y:-6.31, Z:-1.70 [[ 9.99278863e-01 3.79702308e-02 -1.23394773e-04 8.62420890e+01] [-3.79702302e-02 9.99278871e-01 7.19180038e-06 -6.30919946e+00] [ 1.23578864e-04 -2.50128616e-06 9.99999992e-01 -1.69664869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722414037 meters 0.07749797572384078 Centerline is valid? [True, True] Translation: X:86.30, Y:-6.32, Z:-1.69 [[ 9.99552967e-01 2.98925180e-02 5.50056789e-04 8.63019717e+01] [-2.98924997e-02 9.99553119e-01 -4.14795972e-05 -6.32057252e+00] [-5.51050909e-04 2.50184821e-05 9.99999848e-01 -1.69454192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782414037 meters 0.0797384881222119 Centerline is valid? [True, True] Translation: X:86.36, Y:-6.34, Z:-1.70 [[ 9.99692382e-01 2.47786134e-02 1.07777601e-03 8.63597953e+01] [-2.47785390e-02 9.99692961e-01 -8.23206806e-05 -6.33607674e+00] [-1.07948488e-03 5.55896424e-05 9.99999416e-01 -1.69888467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842414037 meters 0.07999428787884191 Centerline is valid? [True, True] Translation: X:86.42, Y:-6.35, Z:-1.70 [[ 9.99838372e-01 1.79521236e-02 9.75453645e-04 8.64197456e+01] [-1.79520604e-02 9.99838846e-01 -7.34761592e-05 -6.34714090e+00] [-9.76615499e-04 5.59528806e-05 9.99999522e-01 -1.69871826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90241403699999 meters 0.08092876112421381 Centerline is valid? [True, True] Translation: X:86.48, Y:-6.36, Z:-1.70 [[ 9.99922458e-01 1.24382597e-02 6.05804356e-04 8.64792974e+01] [-1.24382343e-02 9.99922641e-01 -4.56309365e-05 -6.35791624e+00] [-6.06325061e-04 3.80922617e-05 9.99999815e-01 -1.70079252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96241403699999 meters 0.08232605128319642 Centerline is valid? [True, True] Translation: X:86.54, Y:-6.37, Z:-1.70 [[ 9.99970852e-01 7.61740722e-03 -5.20809791e-04 8.65388724e+01] [-7.61738778e-03 9.99970987e-01 3.92865920e-05 -6.36934080e+00] [ 5.21093943e-04 -3.53182367e-05 9.99999864e-01 -1.70449625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02241403699999 meters 0.08402556454552393 Centerline is valid? [True, True] Translation: X:86.60, Y:-6.38, Z:-1.71 [[ 9.99998635e-01 1.64843759e-03 1.08886286e-04 8.65986547e+01] [-1.64843671e-03 9.99998641e-01 -8.15742869e-06 -6.38126766e+00] [-1.08899585e-04 7.97792540e-06 9.99999994e-01 -1.70654644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08241403699999 meters 0.08357906706748139 Centerline is valid? [True, True] Translation: X:86.66, Y:-6.39, Z:-1.70 [[ 9.99992863e-01 -2.68304710e-03 2.65994296e-03 8.66586251e+01] [ 2.68359016e-03 9.99996379e-01 -2.00611504e-04 -6.38964516e+00] [-2.65939508e-03 2.07748269e-04 9.99996442e-01 -1.70404088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142414037 meters 0.08750314783145687 Centerline is valid? [True, True] Translation: X:86.72, Y:-6.40, Z:-1.71 [[ 9.99986662e-01 -4.86839314e-03 1.72461852e-03 8.67172662e+01] [ 4.86862118e-03 9.99988140e-01 -1.28049512e-04 -6.40380803e+00] [-1.72397467e-03 1.36444318e-04 9.99998505e-01 -1.70876178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202414037 meters 0.08837013995092849 Centerline is valid? [True, True] Translation: X:86.78, Y:-6.41, Z:-1.71 [[ 9.99976655e-01 -6.69762412e-03 -1.35357223e-03 8.67778073e+01] [ 6.69776858e-03 9.99977564e-01 1.02218973e-04 -6.40985980e+00] [ 1.35285724e-03 -1.11282500e-04 9.99999079e-01 -1.71295658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26241403699999 meters 0.0872523390814069 Centerline is valid? [True, True] Translation: X:86.84, Y:-6.41, Z:-1.71 [[ 9.99965331e-01 -8.22148620e-03 -1.32049470e-03 8.68386600e+01] [ 8.22162561e-03 9.99966197e-01 1.00177871e-04 -6.41203521e+00] [ 1.31962645e-03 -1.11031011e-04 9.99999123e-01 -1.71463849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32241403699999 meters 0.0862762704534397 Centerline is valid? [True, True] Translation: X:86.90, Y:-6.41, Z:-1.72 [[ 9.99945942e-01 -1.01542790e-02 -2.23677425e-03 8.68999534e+01] [ 1.01546831e-02 9.99948426e-01 1.69362396e-04 -6.41066099e+00] [ 2.23493914e-03 -1.92066974e-04 9.99997484e-01 -1.71584522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38241403699999 meters 0.0864924535881068 Centerline is valid? [True, True] Translation: X:86.96, Y:-6.41, Z:-1.72 [[ 9.99934286e-01 -1.11486329e-02 -2.67057043e-03 8.69610323e+01] [ 1.11492138e-02 9.99937825e-01 2.02756836e-04 -6.41309774e+00] [ 2.66814392e-03 -2.32518273e-04 9.99996413e-01 -1.71725655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44241403699999 meters 0.08609057823278965 Centerline is valid? [True, True] Translation: X:87.02, Y:-6.41, Z:-1.72 [[ 9.99916429e-01 -1.27676604e-02 -2.03013946e-03 8.70223867e+01] [ 1.27680002e-02 9.99918474e-01 1.54490710e-04 -6.41253567e+00] [ 2.02800147e-03 -1.80398620e-04 9.99997927e-01 -1.71851494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502414037 meters 0.0910938523978948 Centerline is valid? [True, True] Translation: X:87.08, Y:-6.42, Z:-1.72 [[ 9.99889277e-01 -1.48740985e-02 -4.40458074e-04 8.70821420e+01] [ 1.48741152e-02 9.99889374e-01 3.46843320e-05 -6.42249190e+00] [ 4.39893450e-04 -4.12319158e-05 9.99999902e-01 -1.72315200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562414037 meters 0.08932717330097684 Centerline is valid? [True, True] Translation: X:87.14, Y:-6.42, Z:-1.72 [[ 9.99890408e-01 -1.47671098e-02 -1.05060207e-03 8.71445893e+01] [ 1.47672037e-02 9.99890956e-01 8.16855383e-05 -6.42006898e+00] [ 1.04928125e-03 -9.71910410e-05 9.99999445e-01 -1.72429448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62241403699998 meters 0.08813160096576576 Centerline is valid? [True, True] Translation: X:87.21, Y:-6.42, Z:-1.72 [[ 9.99919455e-01 -1.26685835e-02 -7.68734399e-04 8.72060386e+01] [ 1.26686324e-02 9.99919748e-01 5.87223147e-05 -6.41688264e+00] [ 7.67928778e-04 -6.84563984e-05 9.99999703e-01 -1.72475205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68241403699999 meters 0.0881372299299648 Centerline is valid? [True, True] Translation: X:87.27, Y:-6.42, Z:-1.73 [[ 9.99949653e-01 -1.00296382e-02 -3.11374558e-04 8.72671325e+01] [ 1.00296462e-02 9.99949702e-01 2.39400462e-05 -6.41653113e+00] [ 3.11118787e-04 -2.70618176e-05 9.99999951e-01 -1.72563652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74241403699999 meters 0.08821390867335495 Centerline is valid? [True, True] Translation: X:87.33, Y:-6.42, Z:-1.73 [[ 9.99977503e-01 -6.70276328e-03 -2.56050236e-04 8.73279765e+01] [ 6.70276846e-03 9.99977536e-01 1.94075972e-05 -6.41595289e+00] [ 2.55914399e-04 -2.11234060e-05 9.99999967e-01 -1.72889041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80241403699999 meters 0.08738684985800273 Centerline is valid? [True, True] Translation: X:87.39, Y:-6.42, Z:-1.73 [[ 9.99978249e-01 -6.54532845e-03 -8.12285559e-04 8.73905827e+01] [ 6.54538234e-03 9.99978577e-01 6.37100110e-05 -6.41676144e+00] [ 8.11851155e-04 -6.90253448e-05 9.99999668e-01 -1.73177345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862414037 meters 0.0866520632155944 Centerline is valid? [True, True] Translation: X:87.45, Y:-6.42, Z:-1.73 [[ 9.99972997e-01 -7.26011809e-03 -1.13874018e-03 8.74520114e+01] [ 7.26022229e-03 9.99973640e-01 8.74017058e-05 -6.41634878e+00] [ 1.13807562e-03 -9.56668525e-05 9.99999348e-01 -1.73375962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922414037 meters 0.08812965736163345 Centerline is valid? [True, True] Translation: X:87.51, Y:-6.42, Z:-1.73 [[ 9.99974506e-01 -7.12119589e-03 5.24975929e-04 8.75120196e+01] [ 7.12121664e-03 9.99974643e-01 -3.76560066e-05 -6.42051493e+00] [-5.24694462e-04 4.13935139e-05 9.99999861e-01 -1.73483969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98241403699998 meters 0.08923076176829048 Centerline is valid? [True, True] Translation: X:87.57, Y:-6.42, Z:-1.74 [[ 9.99980172e-01 -6.20704737e-03 1.06236466e-03 8.75724831e+01] [ 6.20713369e-03 9.99980733e-01 -7.79760890e-05 -6.42481289e+00] [-1.06186019e-03 8.45687823e-05 9.99999433e-01 -1.73650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04241403699999 meters 0.08815769423192504 Centerline is valid? [True, True] Translation: X:87.63, Y:-6.42, Z:-1.74 [[ 9.99977365e-01 -6.65160659e-03 -1.01289491e-03 8.76342180e+01] [ 6.65168901e-03 9.99977874e-01 7.80273083e-05 -6.42454391e+00] [ 1.01235350e-03 -8.47630041e-05 9.99999484e-01 -1.73879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10241403699999 meters 0.08820123978202075 Centerline is valid? [True, True] Translation: X:87.70, Y:-6.43, Z:-1.74 [[ 9.99974095e-01 -7.19740570e-03 -8.45096942e-05 8.76955611e+01] [ 7.19740636e-03 9.99974098e-01 7.49800838e-06 -6.42536605e+00] [ 8.44535391e-05 -8.10606476e-06 9.99999996e-01 -1.74049854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16241403699999 meters 0.0892905469729815 Centerline is valid? [True, True] Translation: X:87.76, Y:-6.43, Z:-1.74 [[ 9.99965244e-01 -8.32495662e-03 -4.54549495e-04 8.77569677e+01] [ 8.32497367e-03 9.99965346e-01 3.56301868e-05 -6.42788600e+00] [ 4.54237124e-04 -3.94130610e-05 9.99999896e-01 -1.74317739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222414037 meters 0.08618924382106909 Centerline is valid? [True, True] Translation: X:87.82, Y:-6.42, Z:-1.74 [[ 9.99952111e-01 -9.78626661e-03 7.31138117e-05 8.78188907e+01] [ 9.78626696e-03 9.99952113e-01 -4.44332776e-06 -6.42377825e+00] [-7.30668269e-05 5.15862625e-06 9.99999997e-01 -1.74277239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282414037 meters 0.08924790631164956 Centerline is valid? [True, True] Translation: X:87.88, Y:-6.43, Z:-1.75 [[ 9.99900145e-01 -1.40235910e-02 1.74331799e-03 8.78774237e+01] [ 1.40238406e-02 9.99901653e-01 -1.31045756e-04 -6.43209787e+00] [-1.74130881e-03 1.55480684e-04 9.99998472e-01 -1.74587138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342414037 meters 0.08957157380767405 Centerline is valid? [True, True] Translation: X:87.94, Y:-6.44, Z:-1.75 [[ 9.99867359e-01 -1.60119789e-02 2.97997311e-03 8.79388394e+01] [ 1.60127226e-02 9.99871763e-01 -2.25868974e-04 -6.43578355e+00] [-2.97597436e-03 2.73556497e-04 9.99995534e-01 -1.74672690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40241403699999 meters 0.09215755800334678 Centerline is valid? [True, True] Translation: X:88.00, Y:-6.44, Z:-1.75 [[ 9.99826485e-01 -1.82371249e-02 3.79580139e-03 8.79983881e+01] [ 1.82383527e-02 9.99833626e-01 -2.89106715e-04 -6.44239187e+00] [-3.78989739e-03 3.58285715e-04 9.99992754e-01 -1.75051325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46241403699999 meters 0.09322869316344445 Centerline is valid? [True, True] Translation: X:88.06, Y:-6.45, Z:-1.75 [[ 9.99804047e-01 -1.96798535e-02 2.13780403e-03 8.80595252e+01] [ 1.96802441e-02 9.99806312e-01 -1.61823595e-04 -6.44726699e+00] [-2.13420530e-03 2.03864390e-04 9.99997702e-01 -1.75289228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52241403699999 meters 0.09191130876557325 Centerline is valid? [True, True] Translation: X:88.12, Y:-6.44, Z:-1.75 [[ 9.99809910e-01 -1.94257920e-02 1.66813601e-03 8.81232145e+01] [ 1.94260257e-02 9.99811289e-01 -1.23993237e-04 -6.44484201e+00] [-1.66541255e-03 1.56374920e-04 9.99998601e-01 -1.75488877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58241403699999 meters 0.0911308358466169 Centerline is valid? [True, True] Translation: X:88.19, Y:-6.45, Z:-1.76 [[ 9.99811100e-01 -1.94136987e-02 9.34469288e-04 8.81855358e+01] [ 1.94137717e-02 9.99811533e-01 -6.91631299e-05 -6.44739666e+00] [-9.32950459e-04 8.72916384e-05 9.99999561e-01 -1.75646062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642414037 meters 0.09156183577868239 Centerline is valid? [True, True] Translation: X:88.25, Y:-6.45, Z:-1.76 [[ 9.99803475e-01 -1.96824550e-02 2.36892719e-03 8.82470870e+01] [ 1.96829336e-02 9.99806256e-01 -1.78887377e-04 -6.45186610e+00] [-2.36494728e-03 2.25479658e-04 9.99997178e-01 -1.75947642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702414037 meters 0.0920037829510974 Centerline is valid? [True, True] Translation: X:88.31, Y:-6.46, Z:-1.76 [[ 9.99808646e-01 -1.92455059e-02 3.50447971e-03 8.83092215e+01] [ 1.92465552e-02 9.99814733e-01 -2.65952025e-04 -6.45557557e+00] [-3.49871206e-03 3.33350297e-04 9.99993824e-01 -1.76105180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76241403699999 meters 0.09069211710888961 Centerline is valid? [True, True] Translation: X:88.37, Y:-6.45, Z:-1.76 [[ 9.99891193e-01 -1.43287720e-02 3.50539918e-03 8.83708016e+01] [ 1.43297981e-02 9.99897287e-01 -2.67778460e-04 -6.45188468e+00] [-3.50120220e-03 3.17980987e-04 9.99993820e-01 -1.76173244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82241403699999 meters 0.08838288016129638 Centerline is valid? [True, True] Translation: X:88.43, Y:-6.45, Z:-1.76 [[ 9.99958709e-01 -8.87502138e-03 1.95326908e-03 8.84323525e+01] [ 8.87532928e-03 9.99960602e-01 -1.49019612e-04 -6.44756187e+00] [-1.95186957e-03 1.66349365e-04 9.99998081e-01 -1.76374463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88241403699999 meters 0.08620802142471663 Centerline is valid? [True, True] Translation: X:88.49, Y:-6.44, Z:-1.77 [[ 9.99999070e-01 -1.26253276e-03 -5.15392886e-04 8.84938147e+01] [ 1.26255328e-03 9.99999202e-01 3.94858523e-05 -6.44173104e+00] [ 5.15342622e-04 -4.01365266e-05 9.99999866e-01 -1.76665739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94241403699999 meters 0.08498761174241846 Centerline is valid? [True, True] Translation: X:88.55, Y:-6.44, Z:-1.77 [[ 9.99995053e-01 3.11556356e-03 4.33657585e-04 8.85540732e+01] [-3.11554948e-03 9.99995146e-01 -3.31387095e-05 -6.44191946e+00] [-4.33758726e-04 3.17874639e-05 9.99999905e-01 -1.76818288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002414037 meters 0.08160956483958028 Centerline is valid? [True, True] Translation: X:88.62, Y:-6.44, Z:-1.77 [[ 9.99952534e-01 9.68982269e-03 1.01867784e-03 8.86152397e+01] [-9.68974805e-03 9.99953050e-01 -7.81834886e-05 -6.43512805e+00] [-1.01938760e-03 6.83090459e-05 9.99999478e-01 -1.76719720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062414037 meters 0.0800821199081428 Centerline is valid? [True, True] Translation: X:88.68, Y:-6.43, Z:-1.77 [[ 9.99902698e-01 1.39147604e-02 9.86867884e-04 8.86755703e+01] [-1.39146925e-02 9.99903183e-01 -7.56419648e-05 -6.43257934e+00] [-9.87824879e-04 6.19026415e-05 9.99999510e-01 -1.76771503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12241403699998 meters 0.07969313653790312 Centerline is valid? [True, True] Translation: X:88.74, Y:-6.43, Z:-1.77 [[ 9.99844281e-01 1.75800682e-02 1.53471709e-03 8.87359587e+01] [-1.75799084e-02 9.99845455e-01 -1.17590641e-04 -6.43456309e+00] [-1.53654716e-03 9.05921445e-05 9.99998815e-01 -1.76957479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18241403699999 meters 0.07958567599164336 Centerline is valid? [True, True] Translation: X:88.79, Y:-6.44, Z:-1.77 [[ 9.99821878e-01 1.87330940e-02 2.29859190e-03 8.87944750e+01] [-1.87327342e-02 9.99824511e-01 -1.77936806e-04 -6.43946797e+00] [-2.30152183e-03 1.34846201e-04 9.99997342e-01 -1.77082763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24241403699999 meters 0.07885922857155796 Centerline is valid? [True, True] Translation: X:88.85, Y:-6.44, Z:-1.77 [[ 9.99818443e-01 1.89942006e-02 1.51693543e-03 8.88522668e+01] [-1.89940416e-02 9.99819590e-01 -1.19166624e-04 -6.44149260e+00] [-1.51892523e-03 9.03322540e-05 9.99998842e-01 -1.77208838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30241403699999 meters 0.0800975295671653 Centerline is valid? [True, True] Translation: X:88.91, Y:-6.45, Z:-1.78 [[ 9.99803820e-01 1.97456215e-02 1.55939283e-03 8.89100720e+01] [-1.97454564e-02 9.99805032e-01 -1.21148929e-04 -6.44957223e+00] [-1.56148096e-03 9.03342384e-05 9.99998777e-01 -1.77629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362414037 meters 0.0788918266462134 Centerline is valid? [True, True] Translation: X:88.97, Y:-6.45, Z:-1.78 [[ 9.99765304e-01 2.16427000e-02 9.64766356e-04 8.89695462e+01] [-2.16426375e-02 9.99765768e-01 -7.51894524e-05 -6.45145814e+00] [-9.66167680e-04 5.42917173e-05 9.99999532e-01 -1.77715523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422414037 meters 0.07849651540461018 Centerline is valid? [True, True] Translation: X:89.03, Y:-6.46, Z:-1.78 [[ 9.99719852e-01 2.36207742e-02 1.50893157e-03 8.90296474e+01] [-2.36206267e-02 9.99720987e-01 -1.15549052e-04 -6.45564861e+00] [-1.51123992e-03 7.98747721e-05 9.99998855e-01 -1.77941063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48241403699998 meters 0.07837593695788261 Centerline is valid? [True, True] Translation: X:89.09, Y:-6.46, Z:-1.78 [[ 9.99647218e-01 2.64411203e-02 2.51149963e-03 8.90890340e+01] [-2.64407202e-02 9.99650365e-01 -1.92401932e-04 -6.46108896e+00] [-2.51570885e-03 1.25928197e-04 9.99996828e-01 -1.78270926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54241403699999 meters 0.0777545646145702 Centerline is valid? [True, True] Translation: X:89.15, Y:-6.46, Z:-1.78 [[ 9.99630835e-01 2.70356458e-02 2.69591115e-03 8.91477886e+01] [-2.70351846e-02 9.99634461e-01 -2.07369965e-04 -6.46399422e+00] [-2.70053207e-03 1.34408956e-04 9.99996345e-01 -1.78349663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60241403699999 meters 0.07880179333243272 Centerline is valid? [True, True] Translation: X:89.21, Y:-6.47, Z:-1.79 [[ 9.99668005e-01 2.57165987e-02 1.59285551e-03 8.92057732e+01] [-2.57164356e-02 9.99669270e-01 -1.22763870e-04 -6.47388669e+00] [-1.59548577e-03 8.17605466e-05 9.99998724e-01 -1.78629242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66241403699999 meters 0.07992354254665751 Centerline is valid? [True, True] Translation: X:89.26, Y:-6.49, Z:-1.79 [[ 9.99751866e-01 2.21224394e-02 2.60844004e-03 8.92647189e+01] [-2.21219955e-02 9.99755259e-01 -1.98893242e-04 -6.48682047e+00] [-2.61220165e-03 1.41139991e-04 9.99996578e-01 -1.78844078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722414037 meters 0.08037152086282648 Centerline is valid? [True, True] Translation: X:89.32, Y:-6.50, Z:-1.79 [[ 9.99808902e-01 1.94198399e-02 2.24254574e-03 8.93248025e+01] [-1.94195061e-02 9.99811409e-01 -1.70538112e-04 -6.49533269e+00] [-2.24543464e-03 1.26956392e-04 9.99997471e-01 -1.78968438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782414037 meters 0.07911814835394158 Centerline is valid? [True, True] Translation: X:89.38, Y:-6.50, Z:-1.79 [[ 9.99833248e-01 1.82493375e-02 6.62254195e-04 8.93842230e+01] [-1.82493071e-02 9.99833466e-01 -5.19902031e-05 -6.49626530e+00] [-6.63092694e-04 3.98958534e-05 9.99999779e-01 -1.78911357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842414037 meters 0.08072762440324266 Centerline is valid? [True, True] Translation: X:89.44, Y:-6.51, Z:-1.79 [[ 9.99830950e-01 1.82938337e-02 1.84579024e-03 8.94410717e+01] [-1.82936011e-02 9.99832648e-01 -1.42839699e-04 -6.50718730e+00] [-1.84809443e-03 1.09049401e-04 9.99998286e-01 -1.79350862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90241403699999 meters 0.08051995834654863 Centerline is valid? [True, True] Translation: X:89.50, Y:-6.51, Z:-1.79 [[ 9.99826730e-01 1.79289908e-02 5.00622159e-03 8.94995941e+01] [-1.79273030e-02 9.99839220e-01 -3.81816136e-04 -6.51467548e+00] [-5.01226227e-03 2.92001927e-04 9.99987396e-01 -1.79389724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96241403699999 meters 0.08009357355946228 Centerline is valid? [True, True] Translation: X:89.56, Y:-6.52, Z:-1.80 [[ 9.99834719e-01 1.79543819e-02 2.85919279e-03 8.95577914e+01] [-1.79538279e-02 9.99838793e-01 -2.19295691e-04 -6.51700213e+00] [-2.86266919e-03 1.67925990e-04 9.99995888e-01 -1.79546087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02241403699999 meters 0.0794301438476746 Centerline is valid? [True, True] Translation: X:89.62, Y:-6.52, Z:-1.80 [[ 9.99840305e-01 1.77417936e-02 2.14301582e-03 8.96162961e+01] [-1.77414818e-02 9.99842594e-01 -1.64402700e-04 -6.51918708e+00] [-2.14559530e-03 1.26356169e-04 9.99997690e-01 -1.79653092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08241403699999 meters 0.08008136595561942 Centerline is valid? [True, True] Translation: X:89.67, Y:-6.53, Z:-1.80 [[ 9.99848683e-01 1.73164594e-02 1.65875002e-03 8.96740873e+01] [-1.73162714e-02 9.99850054e-01 -1.27608907e-04 -6.52822551e+00] [-1.66071103e-03 9.88662323e-05 9.99998616e-01 -1.80131549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142414037 meters 0.08105083991392496 Centerline is valid? [True, True] Translation: X:89.73, Y:-6.53, Z:-1.80 [[ 9.99864693e-01 1.62998675e-02 2.21597853e-03 8.97315752e+01] [-1.62995305e-02 9.99867139e-01 -1.70056783e-04 -6.53468561e+00] [-2.21845602e-03 1.33914363e-04 9.99997530e-01 -1.80193048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202414037 meters 0.0813192315638144 Centerline is valid? [True, True] Translation: X:89.79, Y:-6.54, Z:-1.81 [[ 9.99843860e-01 1.75978128e-02 1.60373552e-03 8.97906411e+01] [-1.75976387e-02 9.99845142e-01 -1.22627777e-04 -6.53863965e+00] [-1.60564515e-03 9.43866717e-05 9.99998706e-01 -1.80544538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26241403699999 meters 0.08114193652756703 Centerline is valid? [True, True] Translation: X:89.85, Y:-6.54, Z:-1.81 [[ 9.99805409e-01 1.95926177e-02 2.29622592e-03 8.98501586e+01] [-1.95922690e-02 9.99808038e-01 -1.74288098e-04 -6.54425409e+00] [-2.29919989e-03 1.29265907e-04 9.99997348e-01 -1.80801926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32241403699999 meters 0.0798164258257124 Centerline is valid? [True, True] Translation: X:89.91, Y:-6.55, Z:-1.81 [[ 9.99701214e-01 2.43281792e-02 2.37111568e-03 8.99109525e+01] [-2.43278230e-02 9.99704019e-01 -1.78977864e-04 -6.54633698e+00] [-2.37476808e-03 1.21240305e-04 9.99997173e-01 -1.80983117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38241403699999 meters 0.07778032401068657 Centerline is valid? [True, True] Translation: X:89.97, Y:-6.54, Z:-1.81 [[ 9.99604329e-01 2.79563597e-02 3.10266005e-03 8.99711895e+01] [-2.79557660e-02 9.99609134e-01 -2.34571232e-04 -6.54293643e+00] [-3.10800508e-03 1.47741181e-04 9.99995159e-01 -1.80772704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44241403699999 meters 0.07716457499307953 Centerline is valid? [True, True] Translation: X:90.03, Y:-6.55, Z:-1.81 [[ 9.99426534e-01 3.36290625e-02 3.96102219e-03 9.00313852e+01] [-3.36281417e-02 9.99434369e-01 -2.98848532e-04 -6.54835415e+00] [-3.96883171e-03 1.65475337e-04 9.99992110e-01 -1.81002519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502414037 meters 0.07660177512544655 Centerline is valid? [True, True] Translation: X:90.09, Y:-6.55, Z:-1.81 [[ 9.99361623e-01 3.55890266e-02 3.12518753e-03 9.00899463e+01] [-3.55884571e-02 9.99366502e-01 -2.37695399e-04 -6.55161635e+00] [-3.13166708e-03 1.26323058e-04 9.99995088e-01 -1.81114898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562414037 meters 0.07563542009415332 Centerline is valid? [True, True] Translation: X:90.15, Y:-6.55, Z:-1.81 [[ 9.99212486e-01 3.96103783e-02 2.32933525e-03 9.01502722e+01] [-3.96100754e-02 9.99215198e-01 -1.76045213e-04 -6.55197149e+00] [-2.33448040e-03 8.36414296e-05 9.99997272e-01 -1.81075911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62241403699998 meters 0.07571410031184057 Centerline is valid? [True, True] Translation: X:90.21, Y:-6.56, Z:-1.82 [[ 9.99104981e-01 4.22736648e-02 1.47439398e-03 9.02070963e+01] [-4.22735413e-02 9.99106068e-01 -1.14883348e-04 -6.56016768e+00] [-1.47793251e-03 5.24526702e-05 9.99998906e-01 -1.81626942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68241403699999 meters 0.07506270541334899 Centerline is valid? [True, True] Translation: X:90.27, Y:-6.57, Z:-1.82 [[ 9.99048722e-01 4.34500696e-02 3.70699645e-03 9.02651964e+01] [-4.34493265e-02 9.99055593e-01 -2.80787043e-04 -6.56878792e+00] [-3.71569575e-03 1.19453437e-04 9.99993090e-01 -1.81605799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74241403699999 meters 0.07495119582104685 Centerline is valid? [True, True] Translation: X:90.32, Y:-6.58, Z:-1.82 [[ 9.99047508e-01 4.34947567e-02 3.50483437e-03 9.03225537e+01] [-4.34940897e-02 9.99053649e-01 -2.66333628e-04 -6.57815564e+00] [-3.51310168e-03 1.13640367e-04 9.99993823e-01 -1.81722004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80241403699999 meters 0.07615019001924606 Centerline is valid? [True, True] Translation: X:90.38, Y:-6.60, Z:-1.82 [[ 9.99128967e-01 4.17224904e-02 7.35556132e-04 9.03796814e+01] [-4.17224599e-02 9.99129237e-01 -5.68024267e-05 -6.59579919e+00] [-7.37285576e-04 2.60637387e-05 9.99999728e-01 -1.82400042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862414037 meters 0.07567347964576722 Centerline is valid? [True, True] Translation: X:90.44, Y:-6.60, Z:-1.82 [[ 9.99218678e-01 3.95147283e-02 7.87894404e-04 9.04380651e+01] [-3.95146923e-02 9.99218988e-01 -6.12180116e-05 -6.60412369e+00] [-7.89698062e-04 3.00367757e-05 9.99999688e-01 -1.82375614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922414037 meters 0.0761395023044816 Centerline is valid? [True, True] Translation: X:90.50, Y:-6.62, Z:-1.83 [[ 9.99354368e-01 3.58929408e-02 1.59527263e-03 9.04962551e+01] [-3.58927932e-02 9.99355639e-01 -1.21060618e-04 -6.61986154e+00] [-1.59858992e-03 6.37236671e-05 9.99998720e-01 -1.82623357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98241403699998 meters 0.07617301662354962 Centerline is valid? [True, True] Translation: X:90.55, Y:-6.63, Z:-1.83 [[ 9.99426762e-01 3.37368287e-02 2.82384443e-03 9.05539395e+01] [-3.37363588e-02 9.99430744e-01 -2.13889716e-04 -6.63067596e+00] [-2.82945290e-03 1.18500877e-04 9.99995990e-01 -1.82813624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04241403699999 meters 0.0770948736657105 Centerline is valid? [True, True] Translation: X:90.61, Y:-6.65, Z:-1.83 [[ 9.99536487e-01 3.02147698e-02 3.72548634e-03 9.06111338e+01] [-3.02139342e-02 9.99543416e-01 -2.80400940e-04 -6.64690009e+00] [-3.73225759e-03 1.67709372e-04 9.99993021e-01 -1.83093096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10241403699999 meters 0.07651597012604912 Centerline is valid? [True, True] Translation: X:90.67, Y:-6.65, Z:-1.83 [[ 9.99597770e-01 2.79437845e-02 4.84171994e-03 9.06698489e+01] [-2.79423504e-02 9.99609470e-01 -3.63605586e-04 -6.65430908e+00] [-4.84998962e-03 2.28170298e-04 9.99988213e-01 -1.82995014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16241403699999 meters 0.07795493847187857 Centerline is valid? [True, True] Translation: X:90.73, Y:-6.67, Z:-1.83 [[ 9.99685541e-01 2.44065555e-02 5.75666129e-03 9.07270303e+01] [-2.44044746e-02 9.99702073e-01 -4.31459611e-04 -6.67147875e+00] [-5.76547667e-03 2.90835641e-04 9.99983337e-01 -1.83307055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222414037 meters 0.07770502019418202 Centerline is valid? [True, True] Translation: X:90.79, Y:-6.68, Z:-1.83 [[ 9.99740650e-01 2.21904451e-02 5.12015585e-03 9.07861924e+01] [-2.21887752e-02 9.99753726e-01 -3.82713004e-04 -6.68067357e+00] [-5.12738746e-03 2.69003760e-04 9.99986819e-01 -1.83461603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282414037 meters 0.07774939536396955 Centerline is valid? [True, True] Translation: X:90.84, Y:-6.69, Z:-1.84 [[ 9.99738528e-01 2.22283825e-02 5.36411230e-03 9.08448896e+01] [-2.22265468e-02 9.99752879e-01 -4.01603871e-04 -6.68884910e+00] [-5.37171372e-03 2.82273170e-04 9.99985532e-01 -1.83750682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342414037 meters 0.07749613578046033 Centerline is valid? [True, True] Translation: X:90.90, Y:-6.69, Z:-1.84 [[ 9.99714269e-01 2.33158882e-02 5.26777153e-03 9.09037374e+01] [-2.33141303e-02 9.99728111e-01 -3.94878610e-04 -6.69463436e+00] [-5.27554623e-03 2.71952269e-04 9.99986047e-01 -1.84034031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40241403699999 meters 0.07624310141682411 Centerline is valid? [True, True] Translation: X:90.96, Y:-6.70, Z:-1.84 [[ 9.99642474e-01 2.57915395e-02 7.05128626e-03 9.09635541e+01] [-2.57884779e-02 9.99667284e-01 -5.24788336e-04 -6.69781928e+00] [-7.06247528e-03 3.42758771e-04 9.99975002e-01 -1.83940494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46241403699999 meters 0.07633221825361125 Centerline is valid? [True, True] Translation: X:91.02, Y:-6.71, Z:-1.84 [[ 9.99610290e-01 2.68928469e-02 7.48622777e-03 9.10213970e+01] [-2.68894187e-02 9.99638258e-01 -5.58235057e-04 -6.70582149e+00] [-7.49853222e-03 3.56717194e-04 9.99971822e-01 -1.84103318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52241403699999 meters 0.07532455746303016 Centerline is valid? [True, True] Translation: X:91.08, Y:-6.71, Z:-1.84 [[ 9.99610940e-01 2.65537475e-02 8.53617585e-03 9.10804148e+01] [-2.65492850e-02 9.99647303e-01 -6.35682306e-04 -6.70742747e+00] [-8.55004492e-03 4.08805622e-04 9.99963364e-01 -1.83950770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58241403699999 meters 0.07592928674032073 Centerline is valid? [True, True] Translation: X:91.14, Y:-6.72, Z:-1.84 [[ 9.99656957e-01 2.51996572e-02 7.13765253e-03 9.11388055e+01] [-2.51965070e-02 9.99682377e-01 -5.30939913e-04 -6.71644141e+00] [-7.14876495e-03 3.50913866e-04 9.99974386e-01 -1.84165993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642414037 meters 0.0759403230656659 Centerline is valid? [True, True] Translation: X:91.20, Y:-6.72, Z:-1.84 [[ 9.99710835e-01 2.28395292e-02 7.52342166e-03 9.11976990e+01] [-2.28359666e-02 9.99739069e-01 -5.59120219e-04 -6.72132541e+00] [-7.53422861e-03 3.87153936e-04 9.99971542e-01 -1.84133672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702414037 meters 0.07686887640703233 Centerline is valid? [True, True] Translation: X:91.26, Y:-6.73, Z:-1.84 [[ 9.99777390e-01 1.91138610e-02 8.93484134e-03 9.12571848e+01] [-1.91087015e-02 9.99817193e-01 -6.62482995e-04 -6.73142668e+00] [-8.94587059e-03 4.91602303e-04 9.99959864e-01 -1.84126971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76241403699999 meters 0.07732632459074996 Centerline is valid? [True, True] Translation: X:91.32, Y:-6.74, Z:-1.84 [[ 9.99852612e-01 1.62316615e-02 5.59353497e-03 9.13172002e+01] [-1.62295955e-02 9.99868206e-01 -4.14554773e-04 -6.73797714e+00] [-5.59952669e-03 3.23712862e-04 9.99984270e-01 -1.84390654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82241403699999 meters 0.07899495585213631 Centerline is valid? [True, True] Translation: X:91.38, Y:-6.75, Z:-1.85 [[ 9.99923114e-01 1.21852459e-02 2.29921967e-03 9.13771894e+01] [-1.21848860e-02 9.99925747e-01 -1.70487362e-04 -6.74925082e+00] [-2.30112637e-03 1.42458524e-04 9.99997342e-01 -1.84783133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88241403699999 meters 0.07982386800810212 Centerline is valid? [True, True] Translation: X:91.44, Y:-6.76, Z:-1.85 [[ 9.99955311e-01 9.42564610e-03 7.29639152e-04 9.14372016e+01] [-9.42560916e-03 9.99955576e-01 -5.40464199e-05 -6.75717694e+00] [-7.30116161e-04 4.71667111e-05 9.99999732e-01 -1.85141170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94241403699999 meters 0.08066498269078748 Centerline is valid? [True, True] Translation: X:91.50, Y:-6.76, Z:-1.86 [[ 9.99977082e-01 6.73398733e-03 6.98539730e-04 9.14972035e+01] [-6.73395282e-03 9.99977325e-01 -5.17427984e-05 -6.76468652e+00] [-6.98872327e-04 4.70376790e-05 9.99999755e-01 -1.85519258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002414037 meters 0.07993824574712714 Centerline is valid? [True, True] Translation: X:91.56, Y:-6.77, Z:-1.85 [[ 9.99982268e-01 4.88309684e-03 3.40873305e-03 9.15565152e+01] [-4.88226099e-03 9.99988050e-01 -2.53486304e-04 -6.76785752e+00] [-3.40993012e-03 2.36839485e-04 9.99994158e-01 -1.85383562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062414037 meters 0.08269835669252357 Centerline is valid? [True, True] Translation: X:91.62, Y:-6.78, Z:-1.86 [[ 9.99989683e-01 1.08920214e-03 4.40996868e-03 9.16157518e+01] [-1.08777114e-03 9.99999355e-01 -3.26877794e-04 -6.77653674e+00] [-4.41032187e-03 3.22077385e-04 9.99990223e-01 -1.85573225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12241403699998 meters 0.08400640018487272 Centerline is valid? [True, True] Translation: X:91.68, Y:-6.78, Z:-1.86 [[ 9.99984318e-01 -3.17230051e-03 4.61525627e-03 9.16759515e+01] [ 3.17391088e-03 9.99994905e-01 -3.41639398e-04 -6.78357135e+00] [-4.61414897e-03 3.56282452e-04 9.99989291e-01 -1.85759763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18241403699999 meters 0.08395341360901469 Centerline is valid? [True, True] Translation: X:91.74, Y:-6.79, Z:-1.86 [[ 9.99939960e-01 -1.01036141e-02 4.24178963e-03 9.17360816e+01] [ 1.01050359e-02 9.99948894e-01 -3.13889179e-04 -6.78669032e+00] [-4.23840143e-03 3.56733770e-04 9.99990954e-01 -1.85769432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24241403699999 meters 0.08865094007426996 Centerline is valid? [True, True] Translation: X:91.79, Y:-6.80, Z:-1.86 [[ 9.99864428e-01 -1.63544617e-02 1.91235487e-03 9.17945118e+01] [ 1.63547639e-02 9.99866242e-01 -1.42475372e-04 -6.79682554e+00] [-1.90976897e-03 1.73732169e-04 9.99998161e-01 -1.86167298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30241403699999 meters 0.0866198632528681 Centerline is valid? [True, True] Translation: X:91.86, Y:-6.79, Z:-1.86 [[ 9.99815718e-01 -1.91520632e-02 1.31481149e-03 9.18557481e+01] [ 1.91522074e-02 9.99816575e-01 -9.71847754e-05 -6.79293437e+00] [-1.31270904e-03 1.22348408e-04 9.99999131e-01 -1.86216843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362414037 meters 0.09008576882531961 Centerline is valid? [True, True] Translation: X:91.92, Y:-6.80, Z:-1.87 [[ 9.99789869e-01 -2.04850052e-02 7.62601461e-04 9.19155615e+01] [ 2.04850537e-02 9.99790158e-01 -5.58915252e-05 -6.80222692e+00] [-7.61296497e-04 7.15017126e-05 9.99999708e-01 -1.86589883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422414037 meters 0.0901476462204823 Centerline is valid? [True, True] Translation: X:91.98, Y:-6.80, Z:-1.87 [[ 9.99736042e-01 -2.29728076e-02 -3.10548427e-04 9.19764780e+01] [ 2.29728159e-02 9.99736090e-01 2.30806481e-05 -6.79970818e+00] [ 3.09936243e-04 -3.02087276e-05 9.99999952e-01 -1.86782112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48241403699998 meters 0.09196816019137456 Centerline is valid? [True, True] Translation: X:92.04, Y:-6.80, Z:-1.87 [[ 9.99677725e-01 -2.53833714e-02 -3.61987085e-04 9.20369750e+01] [ 2.53833829e-02 9.99677790e-01 2.71150066e-05 -6.79839000e+00] [ 3.61182178e-04 -3.62947248e-05 9.99999934e-01 -1.87021388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54241403699999 meters 0.09389176767051673 Centerline is valid? [True, True] Translation: X:92.10, Y:-6.80, Z:-1.87 [[ 9.99627159e-01 -2.72976044e-02 6.19403961e-04 9.20980244e+01] [ 2.72976377e-02 9.99627349e-01 -4.53251461e-05 -6.80048826e+00] [-6.17935871e-04 6.22165119e-05 9.99999807e-01 -1.87150623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60241403699999 meters 0.0896880640334181 Centerline is valid? [True, True] Translation: X:92.16, Y:-6.79, Z:-1.87 [[ 9.99622949e-01 -2.74428673e-02 9.21877505e-04 9.21612455e+01] [ 2.74429398e-02 9.99623369e-01 -6.60591785e-05 -6.78785646e+00] [-9.19717445e-04 9.13332996e-05 9.99999573e-01 -1.87194580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66241403699999 meters 0.09122447290525354 Centerline is valid? [True, True] Translation: X:92.22, Y:-6.79, Z:-1.88 [[ 9.99626873e-01 -2.72640676e-02 -1.66883660e-03 9.22232825e+01] [ 2.72643157e-02 9.99628252e-01 1.26049538e-04 -6.78872420e+00] [ 1.66477959e-03 -1.71502194e-04 9.99998600e-01 -1.87660169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722414037 meters 0.09320473885978943 Centerline is valid? [True, True] Translation: X:92.28, Y:-6.79, Z:-1.88 [[ 9.99683454e-01 -2.51283848e-02 -1.24717556e-03 9.22837500e+01] [ 2.51285196e-02 9.99684225e-01 9.25201055e-05 -6.78690248e+00] [ 1.24445685e-03 -1.23830494e-04 9.99999218e-01 -1.88160210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782414037 meters 0.09092653199232509 Centerline is valid? [True, True] Translation: X:92.35, Y:-6.78, Z:-1.88 [[ 9.99735259e-01 -2.29776150e-02 -1.20008119e-03 9.23453086e+01] [ 2.29777389e-02 9.99735973e-01 8.96044298e-05 -6.77878957e+00] [ 1.19770544e-03 -1.17155860e-04 9.99999276e-01 -1.88125999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842414037 meters 0.08922371542201477 Centerline is valid? [True, True] Translation: X:92.41, Y:-6.77, Z:-1.88 [[ 9.99809443e-01 -1.94996502e-02 9.17304083e-04 9.24070649e+01] [ 1.94997203e-02 9.99809860e-01 -6.75827163e-05 -6.77036487e+00] [-9.15811827e-04 8.54570110e-05 9.99999577e-01 -1.88055136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90241403699999 meters 0.09021938063961694 Centerline is valid? [True, True] Translation: X:92.47, Y:-6.76, Z:-1.89 [[ 9.99844463e-01 -1.76319672e-02 4.05043908e-04 9.24682676e+01] [ 1.76319804e-02 9.99844544e-01 -2.90043430e-05 -6.76415428e+00] [-4.04469538e-04 3.61415580e-05 9.99999918e-01 -1.88545189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96241403699999 meters 0.09342897611557692 Centerline is valid? [True, True] Translation: X:92.53, Y:-6.77, Z:-1.89 [[ 9.99787164e-01 -2.05433048e-02 -1.89732818e-03 9.25282093e+01] [ 2.05436112e-02 9.99788948e-01 1.42144672e-04 -6.76530133e+00] [ 1.89400762e-03 -1.81092391e-04 9.99998190e-01 -1.89050984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02241403699999 meters 0.09172430778632906 Centerline is valid? [True, True] Translation: X:92.59, Y:-6.76, Z:-1.89 [[ 9.99708084e-01 -2.40738394e-02 -2.04880026e-03 9.25895243e+01] [ 2.40742041e-02 9.99710163e-01 1.53532802e-04 -6.75858137e+00] [ 2.04451032e-03 -2.02811219e-04 9.99997889e-01 -1.89032947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08241403699999 meters 0.09533863969074294 Centerline is valid? [True, True] Translation: X:92.65, Y:-6.76, Z:-1.89 [[ 9.99589571e-01 -2.86350926e-02 -8.49487790e-04 9.26497404e+01] [ 2.86351564e-02 9.99589928e-01 6.30341019e-05 -6.76092807e+00] [ 8.47334451e-04 -8.73334466e-05 9.99999637e-01 -1.89184155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142414037 meters 0.09679891735827932 Centerline is valid? [True, True] Translation: X:92.71, Y:-6.76, Z:-1.89 [[ 9.99511394e-01 -3.12561995e-02 -1.53382713e-04 9.27103478e+01] [ 3.12562016e-02 9.99511406e-01 1.15097710e-05 -6.76341603e+00] [ 1.52948019e-04 -1.62983083e-05 9.99999988e-01 -1.89456786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202414037 meters 0.09779574911598483 Centerline is valid? [True, True] Translation: X:92.77, Y:-6.76, Z:-1.90 [[ 9.99427769e-01 -3.38246537e-02 -1.62537510e-04 9.27711272e+01] [ 3.38246561e-02 9.99427783e-01 1.21881627e-05 -6.76252519e+00] [ 1.62032243e-04 -1.76789636e-05 9.99999987e-01 -1.89604053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26241403699999 meters 0.09584289504380518 Centerline is valid? [True, True] Translation: X:92.83, Y:-6.75, Z:-1.90 [[ 9.99482346e-01 -3.21635932e-02 -7.36489184e-04 9.28330659e+01] [ 3.21636430e-02 9.99482615e-01 5.58525291e-05 -6.75485974e+00] [ 7.34311717e-04 -7.95117920e-05 9.99999727e-01 -1.89845653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32241403699999 meters 0.0956172293391674 Centerline is valid? [True, True] Translation: X:92.89, Y:-6.75, Z:-1.90 [[ 9.99576519e-01 -2.90717366e-02 1.27171763e-03 9.28944162e+01] [ 2.90718798e-02 9.99577319e-01 -9.42549846e-05 -6.75335720e+00] [-1.26843994e-03 1.31186291e-04 9.99999187e-01 -1.89872848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38241403699999 meters 0.09504003496254476 Centerline is valid? [True, True] Translation: X:92.95, Y:-6.75, Z:-1.90 [[ 9.99728173e-01 -2.31854462e-02 2.45250327e-03 9.29545615e+01] [ 2.31859642e-02 9.99731153e-01 -1.82982204e-04 -6.74858831e+00] [-2.44760140e-03 2.39796118e-04 9.99996976e-01 -1.89916188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44241403699999 meters 0.09430191462305287 Centerline is valid? [True, True] Translation: X:93.02, Y:-6.75, Z:-1.90 [[ 9.99813440e-01 -1.93131640e-02 2.94258016e-04 9.30154084e+01] [ 1.93131712e-02 9.99813483e-01 -2.18888685e-05 -6.74623078e+00] [-2.93780388e-04 2.75678404e-05 9.99999956e-01 -1.90321911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502414037 meters 0.09246921066427452 Centerline is valid? [True, True] Translation: X:93.08, Y:-6.74, Z:-1.91 [[ 9.99857310e-01 -1.68712354e-02 -8.48875046e-04 9.30768767e+01] [ 1.68712956e-02 9.99857668e-01 6.38201479e-05 -6.74298332e+00] [ 8.47677499e-04 -7.81326633e-05 9.99999638e-01 -1.90678964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562414037 meters 0.09432850038487517 Centerline is valid? [True, True] Translation: X:93.14, Y:-6.75, Z:-1.91 [[ 9.99900519e-01 -1.37620550e-02 3.09172843e-03 9.31368669e+01] [ 1.37628314e-02 9.99905261e-01 -2.30016535e-04 -6.74522504e+00] [-3.08827002e-03 2.72544590e-04 9.99995194e-01 -1.90740543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62241403699998 meters 0.09105207733101373 Centerline is valid? [True, True] Translation: X:93.20, Y:-6.74, Z:-1.90 [[ 9.99920368e-01 -1.14575208e-02 5.28997494e-03 9.31979583e+01] [ 1.14597613e-02 9.99934257e-01 -3.93432670e-04 -6.73925253e+00] [-5.28511940e-03 4.54023190e-04 9.99985931e-01 -1.90406443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68241403699999 meters 0.0918703084481866 Centerline is valid? [True, True] Translation: X:93.26, Y:-6.74, Z:-1.91 [[ 9.99949295e-01 -9.85567451e-03 2.06730151e-03 9.32589874e+01] [ 9.85600537e-03 9.99951417e-01 -1.49916401e-04 -6.74130588e+00] [-2.06572355e-03 1.70284135e-04 9.99997852e-01 -1.90948111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74241403699999 meters 0.0917538976499157 Centerline is valid? [True, True] Translation: X:93.32, Y:-6.74, Z:-1.91 [[ 9.99956346e-01 -9.34270277e-03 1.39493613e-04 9.33215078e+01] [ 9.34270402e-03 9.99956356e-01 -8.33599785e-06 -6.74266847e+00] [-1.39409644e-04 9.63888149e-06 9.99999990e-01 -1.91360198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80241403699999 meters 0.09240282813995113 Centerline is valid? [True, True] Translation: X:93.38, Y:-6.75, Z:-1.91 [[ 9.99953562e-01 -9.29558536e-03 2.54274749e-03 9.33840389e+01] [ 9.29609153e-03 9.99956773e-01 -1.87318042e-04 -6.74589939e+00] [-2.54089635e-03 2.10946957e-04 9.99996750e-01 -1.91451180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862414037 meters 0.09850265674533114 Centerline is valid? [True, True] Translation: X:93.44, Y:-6.76, Z:-1.92 [[ 9.99961809e-01 -7.84981304e-03 3.84191240e-03 9.34425360e+01] [ 7.85097435e-03 9.99969139e-01 -2.87286338e-04 -6.76124099e+00] [-3.83953869e-03 3.17438122e-04 9.99992579e-01 -1.91874622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922414037 meters 0.09122593689053111 Centerline is valid? [True, True] Translation: X:93.51, Y:-6.75, Z:-1.92 [[ 9.99960759e-01 -8.08987547e-03 3.61037883e-03 9.35054396e+01] [ 8.09089429e-03 9.99967232e-01 -2.67674373e-04 -6.75066177e+00] [-3.60809507e-03 2.96875063e-04 9.99993447e-01 -1.91533119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98241403699998 meters 0.08969277319877512 Centerline is valid? [True, True] Translation: X:93.57, Y:-6.75, Z:-1.91 [[ 9.99953844e-01 -7.45778372e-03 6.05728263e-03 9.35676131e+01] [ 7.46065061e-03 9.99972067e-01 -4.50837020e-04 -6.75102861e+00] [-6.05375119e-03 4.96007481e-04 9.99981553e-01 -1.91443168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04241403699999 meters 0.08868847458540209 Centerline is valid? [True, True] Translation: X:93.63, Y:-6.75, Z:-1.92 [[ 9.99955227e-01 -7.41073689e-03 5.88423689e-03 9.36297465e+01] [ 7.41344339e-03 9.99972424e-01 -4.38278319e-04 -6.75399437e+00] [-5.88082666e-03 4.81881153e-04 9.99982592e-01 -1.91742099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10241403699999 meters 0.08917643417239234 Centerline is valid? [True, True] Translation: X:93.69, Y:-6.76, Z:-1.92 [[ 9.99957678e-01 -7.54297164e-03 5.26749589e-03 9.36912637e+01] [ 7.54514310e-03 9.99971458e-01 -3.92488598e-04 -6.76014258e+00] [-5.26438502e-03 4.32215997e-04 9.99986050e-01 -1.92061922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16241403699999 meters 0.0887928401226565 Centerline is valid? [True, True] Translation: X:93.75, Y:-6.76, Z:-1.92 [[ 9.99977342e-01 -5.68763424e-03 3.60081808e-03 9.37531704e+01] [ 5.68863556e-03 9.99983784e-01 -2.67900744e-04 -6.76234091e+00] [-3.59923597e-03 2.88378415e-04 9.99993481e-01 -1.92289424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222414037 meters 0.08975159152966719 Centerline is valid? [True, True] Translation: X:93.81, Y:-6.77, Z:-1.93 [[ 9.99985114e-01 -4.60348922e-03 2.92903900e-03 9.38140793e+01] [ 4.60414169e-03 9.99989378e-01 -2.16051964e-04 -6.76825263e+00] [-2.92801329e-03 2.29534459e-04 9.99995687e-01 -1.92561840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282414037 meters 0.09046085440527332 Centerline is valid? [True, True] Translation: X:93.87, Y:-6.77, Z:-1.93 [[ 9.99994370e-01 -2.69851172e-03 1.99440225e-03 9.38742018e+01] [ 2.69881022e-03 9.99996347e-01 -1.46992405e-04 -6.77468752e+00] [-1.99399831e-03 1.52374090e-04 9.99998000e-01 -1.92941019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342414037 meters 0.08553960715568647 Centerline is valid? [True, True] Translation: X:93.94, Y:-6.77, Z:-1.93 [[ 9.99998183e-01 -1.75270196e-03 7.50307495e-04 9.39368514e+01] [ 1.75274320e-03 9.99998462e-01 -5.43021972e-05 -6.76815180e+00] [-7.50211166e-04 5.56171949e-05 9.99999717e-01 -1.92855296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40241403699999 meters 0.08880835090930422 Centerline is valid? [True, True] Translation: X:94.00, Y:-6.78, Z:-1.93 [[ 9.99998529e-01 -1.54954561e-03 7.34926411e-04 9.39977349e+01] [ 1.54958407e-03 9.99998798e-01 -5.17582945e-05 -6.77895504e+00] [-7.34845326e-04 5.28970487e-05 9.99999729e-01 -1.93332631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46241403699999 meters 0.08580113950014395 Centerline is valid? [True, True] Translation: X:94.06, Y:-6.78, Z:-1.93 [[ 9.99996049e-01 -2.69037932e-03 8.14705323e-04 9.40589883e+01] [ 2.69042875e-03 9.99996379e-01 -5.95856599e-05 -6.77811495e+00] [-8.14542065e-04 6.17773311e-05 9.99999666e-01 -1.93234782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52241403699999 meters 0.08872148917205684 Centerline is valid? [True, True] Translation: X:94.12, Y:-6.79, Z:-1.93 [[ 9.99979175e-01 -4.35848139e-03 4.75943621e-03 9.41195350e+01] [ 4.36022290e-03 9.99990431e-01 -3.55591220e-04 -6.79072806e+00] [-4.75784083e-03 3.76336017e-04 9.99988611e-01 -1.93316058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58241403699999 meters 0.08693473251206231 Centerline is valid? [True, True] Translation: X:94.18, Y:-6.79, Z:-1.93 [[ 9.99983462e-01 -3.71237912e-03 4.39249098e-03 9.41815795e+01] [ 3.71386467e-03 9.99993049e-01 -3.30095321e-04 -6.79111369e+00] [-4.39123501e-03 3.46402979e-04 9.99990298e-01 -1.93233883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642414037 meters 0.0905853397036983 Centerline is valid? [True, True] Translation: X:94.24, Y:-6.80, Z:-1.94 [[ 9.99996116e-01 -2.18791991e-03 1.72670334e-03 9.42423342e+01] [ 2.18814523e-03 9.99997598e-01 -1.28614743e-04 -6.80260714e+00] [-1.72641780e-03 1.32392521e-04 9.99998501e-01 -1.94011460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702414037 meters 0.08615204384265768 Centerline is valid? [True, True] Translation: X:94.30, Y:-6.80, Z:-1.94 [[ 9.99998805e-01 -1.23224806e-03 9.33397098e-04 9.43047739e+01] [ 1.23231309e-03 9.99999238e-01 -6.90960901e-05 -6.79713674e+00] [-9.33311244e-04 7.02462450e-05 9.99999562e-01 -1.94019235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76241403699999 meters 0.08690597819437482 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.80, Z:-1.94 [[ 9.99997469e-01 -1.25927733e-03 1.86469775e-03 9.43653799e+01] [ 1.25954104e-03 9.99999197e-01 -1.40258660e-04 -6.80264430e+00] [-1.86451963e-03 1.42606969e-04 9.99998252e-01 -1.94167697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82241403699999 meters 0.08815798862844305 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.81, Z:-1.94 [[ 9.99993972e-01 -2.30270133e-03 2.59887498e-03 9.44268393e+01] [ 2.30321845e-03 9.99997328e-01 -1.96001193e-04 -6.80892811e+00] [-2.59841671e-03 2.01985789e-04 9.99996604e-01 -1.94239796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88241403699999 meters 0.08949739441193788 Centerline is valid? [True, True] Translation: X:94.49, Y:-6.82, Z:-1.95 [[ 9.99997056e-01 -2.19740698e-03 1.02966492e-03 9.44885575e+01] [ 2.19748647e-03 9.99997583e-01 -7.60718425e-05 -6.81584580e+00] [-1.02949527e-03 7.83342932e-05 9.99999467e-01 -1.94661325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94241403699999 meters 0.09002563562207967 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.82, Z:-1.95 [[ 9.99997180e-01 -2.37113768e-03 -1.30453239e-04 9.45495432e+01] [ 2.37113913e-03 9.99997189e-01 1.09317240e-05 -6.81899087e+00] [ 1.30426951e-04 -1.12410159e-05 9.99999991e-01 -1.94968560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002414037 meters 0.09100075862116531 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.82, Z:-1.95 [[ 9.99996188e-01 -2.63413344e-03 -8.27297221e-04 9.46102140e+01] [ 2.63418715e-03 9.99996528e-01 6.38479498e-05 -6.82430185e+00] [ 8.27126165e-04 -6.60269622e-05 9.99999656e-01 -1.95363111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062414037 meters 0.09220221556300788 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.83, Z:-1.95 [[ 9.99987336e-01 -4.33976908e-03 2.54856106e-03 9.46712998e+01] [ 4.34027402e-03 9.99990562e-01 -1.92631365e-04 -6.83139392e+00] [-2.54770104e-03 2.03690378e-04 9.99996734e-01 -1.95312867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12241403699998 meters 0.09033899527363204 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.83, Z:-1.95 [[ 9.99953200e-01 -8.44919009e-03 4.71260171e-03 9.47320891e+01] [ 8.45097041e-03 9.99964226e-01 -3.57993356e-04 -6.83173415e+00] [-4.70940837e-03 3.97802660e-04 9.99988832e-01 -1.94942210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18241403699999 meters 0.0921784480778496 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.84, Z:-1.95 [[ 9.99927440e-01 -1.18454918e-02 2.19084161e-03 9.47921158e+01] [ 1.18458824e-02 9.99929821e-01 -1.65421304e-04 -6.84034687e+00] [-2.18872836e-03 1.91361753e-04 9.99997586e-01 -1.95369361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24241403699999 meters 0.09245503878998992 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.85, Z:-1.95 [[ 9.99872195e-01 -1.57601588e-02 2.68547649e-03 9.48524315e+01] [ 1.57607605e-02 9.99875771e-01 -2.03040402e-04 -6.84600995e+00] [-2.68194292e-03 2.45339604e-04 9.99996373e-01 -1.95453379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30241403699999 meters 0.09640816514383689 Centerline is valid? [True, True] Translation: X:94.91, Y:-6.86, Z:-1.96 [[ 9.99863068e-01 -1.63551458e-02 2.52075783e-03 9.49130002e+01] [ 1.63556769e-02 9.99866219e-01 -1.90236000e-04 -6.85657520e+00] [-2.51730926e-03 2.31438651e-04 9.99996805e-01 -1.95816771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362414037 meters 0.09310431794851715 Centerline is valid? [True, True] Translation: X:94.98, Y:-6.85, Z:-1.96 [[ 9.99856879e-01 -1.68504050e-02 1.51151801e-03 9.49751242e+01] [ 1.68505956e-02 9.99858012e-01 -1.13477787e-04 -6.85473151e+00] [-1.50939124e-03 1.38931525e-04 9.99998851e-01 -1.95917449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422414037 meters 0.09204911603675314 Centerline is valid? [True, True] Translation: X:95.04, Y:-6.86, Z:-1.96 [[ 9.99868656e-01 -1.61915739e-02 -7.09715722e-04 9.50367029e+01] [ 1.61916180e-02 9.99868906e-01 5.63149148e-05 -6.85866226e+00] [ 7.08710855e-04 -6.77989640e-05 9.99999747e-01 -1.96290805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48241403699998 meters 0.09365639060303824 Centerline is valid? [True, True] Translation: X:95.10, Y:-6.86, Z:-1.96 [[ 9.99878337e-01 -1.55274776e-02 1.48609004e-03 9.50968738e+01] [ 1.55276584e-02 9.99879433e-01 -1.10187324e-04 -6.86407141e+00] [-1.48419993e-03 1.33249417e-04 9.99998890e-01 -1.96212713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54241403699999 meters 0.09306904263338472 Centerline is valid? [True, True] Translation: X:95.16, Y:-6.87, Z:-1.96 [[ 9.99898459e-01 -1.41126120e-02 1.97641925e-03 9.51587154e+01] [ 1.41129346e-02 9.99900396e-01 -1.49340476e-04 -6.86785211e+00] [-1.97411481e-03 1.77218387e-04 9.99998036e-01 -1.96319586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60241403699999 meters 0.09028726057463933 Centerline is valid? [True, True] Translation: X:95.22, Y:-6.87, Z:-1.96 [[ 9.99922787e-01 -1.23188891e-02 1.63227656e-03 9.52205691e+01] [ 1.23191064e-02 9.99924109e-01 -1.23113434e-04 -6.86912489e+00] [-1.63063606e-03 1.43212117e-04 9.99998660e-01 -1.96499496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66241403699999 meters 0.09058926951865823 Centerline is valid? [True, True] Translation: X:95.28, Y:-6.87, Z:-1.97 [[ 9.99945530e-01 -1.03452319e-02 1.38288858e-03 9.52804231e+01] [ 1.03453879e-02 9.99946479e-01 -1.05704773e-04 -6.87258151e+00] [-1.38172103e-03 1.20005534e-04 9.99999038e-01 -1.96610872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722414037 meters 0.09126616925828575 Centerline is valid? [True, True] Translation: X:95.34, Y:-6.88, Z:-1.97 [[ 9.99974836e-01 -6.58710501e-03 2.63384439e-03 9.53397011e+01] [ 6.58765934e-03 9.99978281e-01 -2.01843895e-04 -6.87697080e+00] [-2.63245762e-03 2.19189686e-04 9.99996511e-01 -1.96722402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782414037 meters 0.0918081362138792 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.88, Z:-1.97 [[ 9.99992568e-01 -3.84485804e-03 2.83620591e-04 9.53991971e+01] [ 3.84486434e-03 9.99992608e-01 -2.16742127e-05 -6.88250516e+00] [-2.83535160e-04 2.27645343e-05 9.99999960e-01 -1.97174422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842414037 meters 0.08813787421757126 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.88, Z:-1.97 [[ 9.99989447e-01 -3.35672565e-03 -3.13651504e-03 9.54620193e+01] [ 3.35750123e-03 9.99994334e-01 2.42042672e-04 -6.87955119e+00] [ 3.13568480e-03 -2.52570971e-04 9.99995052e-01 -1.97448056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90241403699999 meters 0.09163210091515958 Centerline is valid? [True, True] Translation: X:95.52, Y:-6.89, Z:-1.98 [[ 9.99987330e-01 -3.89878402e-03 -3.18432168e-03 9.55203677e+01] [ 3.89957742e-03 9.99992367e-01 2.42985264e-04 -6.88930162e+00] [ 3.18335002e-03 -2.55399695e-04 9.99994901e-01 -1.98133161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96241403699999 meters 0.088600762153194 Centerline is valid? [True, True] Translation: X:95.58, Y:-6.89, Z:-1.98 [[ 9.99987269e-01 -5.02217712e-03 -4.90419162e-04 9.55816116e+01] [ 5.02219611e-03 9.99987388e-01 3.75027955e-05 -6.88862478e+00] [ 4.90224631e-04 -3.99652992e-05 9.99999879e-01 -1.97800411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02241403699999 meters 0.08910889173700386 Centerline is valid? [True, True] Translation: X:95.64, Y:-6.89, Z:-1.98 [[ 9.99976829e-01 -6.61476350e-03 1.60805378e-03 9.56431056e+01] [ 6.61496727e-03 9.99978113e-01 -1.21433591e-04 -6.89359014e+00] [-1.60721533e-03 1.32068001e-04 9.99998700e-01 -1.97734042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08241403699999 meters 0.08845778260451582 Centerline is valid? [True, True] Translation: X:95.70, Y:-6.89, Z:-1.98 [[ 9.99961748e-01 -8.35403105e-03 2.59103434e-03 9.57048869e+01] [ 8.35457006e-03 9.99965081e-01 -1.97273557e-04 -6.89491636e+00] [-2.58929584e-03 2.18912989e-04 9.99996624e-01 -1.97538585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142414037 meters 0.0934692683088758 Centerline is valid? [True, True] Translation: X:95.77, Y:-6.91, Z:-1.98 [[ 9.99949411e-01 -9.32909944e-03 3.76068470e-03 9.57650700e+01] [ 9.33024236e-03 9.99956431e-01 -2.86484339e-04 -6.91095852e+00] [-3.75784821e-03 3.21557946e-04 9.99992888e-01 -1.98109087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202414037 meters 0.09183494234473358 Centerline is valid? [True, True] Translation: X:95.83, Y:-6.91, Z:-1.98 [[ 9.99948988e-01 -9.12865713e-03 4.32301256e-03 9.58278726e+01] [ 9.13016362e-03 9.99958265e-01 -3.28874514e-04 -6.91251279e+00] [-4.31982996e-03 3.68327550e-04 9.99990602e-01 -1.98158302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26241403699999 meters 0.08975307210541586 Centerline is valid? [True, True] Translation: X:95.89, Y:-6.91, Z:-1.98 [[ 9.99947918e-01 -8.66022677e-03 5.40022753e-03 9.58904039e+01] [ 8.66257905e-03 9.99962394e-01 -4.12350220e-04 -6.91165936e+00] [-5.39645341e-03 4.59108642e-04 9.99985334e-01 -1.98156813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32241403699999 meters 0.08879160258731882 Centerline is valid? [True, True] Translation: X:95.95, Y:-6.91, Z:-1.98 [[ 9.99954566e-01 -7.50461348e-03 5.87756640e-03 9.59516132e+01] [ 7.50738882e-03 9.99971718e-01 -4.50271908e-04 -6.91200685e+00] [-5.87402105e-03 4.94376626e-04 9.99982626e-01 -1.98321725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38241403699999 meters 0.09184153227889054 Centerline is valid? [True, True] Translation: X:96.01, Y:-6.92, Z:-1.99 [[ 9.99948451e-01 -7.77265628e-03 6.53304518e-03 9.60116829e+01] [ 7.77609045e-03 9.99969641e-01 -5.00424366e-04 -6.92370490e+00] [-6.52895721e-03 5.51200120e-04 9.99978534e-01 -1.98714284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44241403699999 meters 0.0928474732125331 Centerline is valid? [True, True] Translation: X:96.07, Y:-6.93, Z:-1.99 [[ 9.99937281e-01 -9.86642443e-03 5.29971206e-03 9.60724998e+01] [ 9.86871826e-03 9.99951220e-01 -4.06844755e-04 -6.92896408e+00] [-5.29543944e-03 4.59120604e-04 9.99985874e-01 -1.99015113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502414037 meters 0.09160439554809999 Centerline is valid? [True, True] Translation: X:96.13, Y:-6.93, Z:-1.99 [[ 9.99922154e-01 -1.16482214e-02 4.47260532e-03 9.61336179e+01] [ 1.16498726e-02 9.99932079e-01 -3.43315506e-04 -6.92920323e+00] [-4.46830252e-03 3.95394063e-04 9.99989939e-01 -1.99031201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562414037 meters 0.09534688355802325 Centerline is valid? [True, True] Translation: X:96.19, Y:-6.94, Z:-1.99 [[ 9.99899635e-01 -1.31799151e-02 5.19704527e-03 9.61932638e+01] [ 1.31821661e-02 9.99913032e-01 -3.99105187e-04 -6.94069344e+00] [-5.19133312e-03 4.67573444e-04 9.99986416e-01 -1.99453684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62241403699998 meters 0.09305077985933922 Centerline is valid? [True, True] Translation: X:96.26, Y:-6.94, Z:-2.00 [[ 9.99892160e-01 -1.40475550e-02 4.28183046e-03 9.62558228e+01] [ 1.40490847e-02 9.99901253e-01 -3.27376958e-04 -6.93919305e+00] [-4.27680880e-03 3.87497452e-04 9.99990779e-01 -1.99544279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68241403699999 meters 0.09340955225607007 Centerline is valid? [True, True] Translation: X:96.32, Y:-6.94, Z:-2.00 [[ 9.99877201e-01 -1.39575129e-02 7.12538175e-03 9.63177391e+01] [ 1.39617605e-02 9.99902380e-01 -5.46719864e-04 -6.94187298e+00] [-7.11705532e-03 6.46135601e-04 9.99974465e-01 -1.99637004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74241403699999 meters 0.09430100097507536 Centerline is valid? [True, True] Translation: X:96.38, Y:-6.95, Z:-1.99 [[ 9.99835536e-01 -1.35672658e-02 1.20345423e-02 9.63782295e+01] [ 1.35793912e-02 9.99907367e-01 -9.26408639e-04 -6.94621986e+00] [-1.20208587e-02 1.08967804e-03 9.99927153e-01 -1.99382605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80241403699999 meters 0.09705055167040033 Centerline is valid? [True, True] Translation: X:96.44, Y:-6.95, Z:-2.00 [[ 9.99784194e-01 -1.67429425e-02 1.22979728e-02 9.64379324e+01] [ 1.67558557e-02 9.99859162e-01 -9.47734496e-04 -6.95438296e+00] [-1.22803729e-02 1.15359303e-03 9.99923928e-01 -1.99643564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862414037 meters 0.10019992011175308 Centerline is valid? [True, False] Translation: X:96.44, Y:-6.96, Z:-2.00 [[ 9.99787515e-01 -1.61934015e-02 1.27553521e-02 9.64386969e+01] [ 1.61858093e-02 9.99868757e-01 6.98232067e-04 -6.95681119e+00] [-1.27649848e-02 -4.91628007e-04 9.99918403e-01 -1.99957968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922414037 meters 0.10442279044795955 Centerline is valid? [False, False] Translation: X:96.44, Y:-6.95, Z:-2.00 [[ 9.99781819e-01 -1.63990063e-02 1.29378224e-02 9.64391710e+01] [ 1.63932872e-02 9.99865471e-01 5.47981932e-04 -6.95457918e+00] [-1.29450682e-02 -3.35768935e-04 9.99916153e-01 -2.00104370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98241403699998 meters 0.10433558901464726 Centerline is valid? [False, False] Translation: X:96.44, Y:-6.95, Z:-2.00 [[ 9.99828159e-01 -1.27601553e-02 1.34473697e-02 9.64377267e+01] [ 1.27023149e-02 9.99909738e-01 4.37791752e-03 -6.95351216e+00] [-1.35020188e-02 -4.20635249e-03 9.99899996e-01 -2.00075071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04241403699999 meters 0.09502088738800334 Centerline is valid? [False, True] Translation: X:96.44, Y:-6.95, Z:-2.00 [[ 9.99836655e-01 -1.24573013e-02 1.30949710e-02 9.64385696e+01] [ 1.23998994e-02 9.99913191e-01 4.45559705e-03 -6.95337570e+00] [-1.31493390e-02 -4.29249293e-03 9.99904330e-01 -2.00086445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10241403699999 meters 0.09590526430347203 Centerline is valid? [True, True] Translation: X:96.50, Y:-6.96, Z:-2.00 [[ 9.99884968e-01 -1.11627549e-02 1.02686209e-02 9.65004223e+01] [ 1.11722501e-02 9.99937212e-01 -8.67782450e-04 -6.95700757e+00] [-1.02582893e-02 9.82406228e-04 9.99946900e-01 -2.00398126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16241403699999 meters 0.09773441546349776 Centerline is valid? [True, True] Translation: X:96.56, Y:-6.96, Z:-2.01 [[ 9.99907815e-01 -9.28212751e-03 9.90980530e-03 9.65600591e+01] [ 9.29090160e-03 9.99956486e-01 -8.39725424e-04 -6.96373361e+00] [-9.90157964e-03 9.31719040e-04 9.99950544e-01 -2.00604007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222414037 meters 0.09643237507466365 Centerline is valid? [True, True] Translation: X:96.62, Y:-6.97, Z:-2.01 [[ 9.99898409e-01 -9.12652664e-03 1.09488774e-02 9.66218422e+01] [ 9.13721107e-03 9.99957826e-01 -9.26220213e-04 -6.96905411e+00] [-1.09399625e-02 1.02616832e-03 9.99939630e-01 -2.00685279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282414037 meters 0.09862845714608877 Centerline is valid? [True, True] Translation: X:96.68, Y:-6.98, Z:-2.01 [[ 9.99920718e-01 -8.79212648e-03 9.01419294e-03 9.66835084e+01] [ 8.79935722e-03 9.99960994e-01 -7.62804023e-04 -6.97883945e+00] [-9.00713466e-03 8.42062651e-04 9.99959080e-01 -2.01157191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34241403699998 meters 0.09882183264608255 Centerline is valid? [True, True] Translation: X:96.74, Y:-6.98, Z:-2.02 [[ 9.99940600e-01 -6.90680469e-03 8.43163490e-03 9.67440792e+01] [ 6.91307879e-03 9.99975849e-01 -7.15196712e-04 -6.98398434e+00] [-8.42649154e-03 7.73442786e-04 9.99964197e-01 -2.01546266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40241403699999 meters 0.09767231521624288 Centerline is valid? [True, True] Translation: X:96.80, Y:-6.99, Z:-2.02 [[ 9.99939125e-01 -3.14156239e-03 1.05772037e-02 9.68039504e+01] [ 3.15123217e-03 9.99994632e-01 -8.97667268e-04 -6.98747733e+00] [-1.05743268e-02 9.30943846e-04 9.99943657e-01 -2.01670747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46241403699999 meters 0.08851230706798649 Centerline is valid? [True, True] Translation: X:96.87, Y:-6.98, Z:-2.01 [[ 9.99904219e-01 1.20309812e-03 1.37878981e-02 9.68662509e+01] [-1.18707467e-03 9.99998611e-01 -1.17026411e-03 -6.97639541e+00] [-1.37892869e-02 1.15378476e-03 9.99904258e-01 -2.01134923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52241403699999 meters 0.09108386493946302 Centerline is valid? [True, True] Translation: X:96.93, Y:-6.99, Z:-2.02 [[ 9.99927194e-01 2.32976338e-03 1.18396757e-02 9.69263938e+01] [-2.31803478e-03 9.99996809e-01 -1.00424432e-03 -6.98752538e+00] [-1.18419776e-02 9.76726427e-04 9.99929404e-01 -2.01622017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58241403699999 meters 0.092597861729072 Centerline is valid? [True, True] Translation: X:96.99, Y:-7.00, Z:-2.02 [[ 9.99949329e-01 3.20266153e-03 9.54373125e-03 9.69864011e+01] [-3.19507834e-03 9.99994568e-01 -8.09713409e-04 -6.99748523e+00] [-9.54627265e-03 7.79179411e-04 9.99954130e-01 -2.02135593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642414037 meters 0.08696429905280967 Centerline is valid? [True, True] Translation: X:97.05, Y:-6.99, Z:-2.02 [[ 9.99931559e-01 5.89098679e-03 1.01081145e-02 9.70479320e+01] [-5.88260293e-03 9.99982328e-01 -8.58951100e-04 -6.99439930e+00] [-1.01129959e-02 7.99430288e-04 9.99948543e-01 -2.02201627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702414037 meters 0.08495035173620101 Centerline is valid? [True, True] Translation: X:97.11, Y:-7.00, Z:-2.02 [[ 9.99861062e-01 9.40518079e-03 1.37622648e-02 9.71089550e+01] [-9.38995858e-03 9.99955229e-01 -1.17028351e-03 -6.99565742e+00] [-1.37726554e-02 1.04089381e-03 9.99904611e-01 -2.01873048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76241403699999 meters 0.08700442304456964 Centerline is valid? [True, True] Translation: X:97.17, Y:-7.01, Z:-2.02 [[ 9.99808785e-01 1.24190185e-02 1.51049984e-02 9.71676380e+01] [-1.24010198e-02 9.99922279e-01 -1.28466247e-03 -7.00776991e+00] [-1.51197787e-02 1.09709944e-03 9.99885088e-01 -2.02141792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82241403699999 meters 0.08345005636999041 Centerline is valid? [True, True] Translation: X:97.23, Y:-7.01, Z:-2.02 [[ 9.99779923e-01 1.46342211e-02 1.50314698e-02 9.72290359e+01] [-1.46166573e-02 9.99892355e-01 -1.27767016e-03 -7.00618077e+00] [-1.50485494e-02 1.05767913e-03 9.99886205e-01 -2.02175994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88241403699999 meters 0.08494561934287391 Centerline is valid? [True, True] Translation: X:97.29, Y:-7.01, Z:-2.03 [[ 9.99809878e-01 1.46710464e-02 1.28440248e-02 9.72882550e+01] [-1.46582418e-02 9.99891968e-01 -1.09050193e-03 -7.01493184e+00] [-1.28586360e-02 9.02023783e-04 9.99916917e-01 -2.02627588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94241403699999 meters 0.08494871752827998 Centerline is valid? [True, True] Translation: X:97.35, Y:-7.02, Z:-2.03 [[ 9.99850167e-01 1.29643645e-02 1.14703754e-02 9.73482137e+01] [-1.29540121e-02 9.99915617e-01 -9.76371437e-04 -7.02131761e+00] [-1.14820655e-02 8.27637762e-04 9.99933736e-01 -2.02925433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002414037 meters 0.08700600662934313 Centerline is valid? [True, True] Translation: X:97.41, Y:-7.03, Z:-2.03 [[ 9.99854021e-01 1.08203251e-02 1.32233635e-02 9.74071224e+01] [-1.08064020e-02 9.99940977e-01 -1.12392322e-03 -7.03361045e+00] [-1.32347443e-02 9.80862173e-04 9.99911936e-01 -2.03091668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062414037 meters 0.08591740532562481 Centerline is valid? [True, True] Translation: X:97.47, Y:-7.04, Z:-2.03 [[ 9.99902686e-01 7.63334120e-03 1.16769241e-02 9.74680597e+01] [-7.62224070e-03 9.99970455e-01 -9.94844850e-04 -7.03674304e+00] [-1.16841731e-02 9.05743712e-04 9.99931328e-01 -2.03024616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12241403699998 meters 0.08608029885940487 Centerline is valid? [True, True] Translation: X:97.53, Y:-7.04, Z:-2.03 [[ 9.99911817e-01 7.24625950e-03 1.11287453e-02 9.75297564e+01] [-7.23621189e-03 9.99973374e-01 -9.42853767e-04 -7.04275136e+00] [-1.11352811e-02 8.62240665e-04 9.99937629e-01 -2.03332437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18241403699999 meters 0.0877778979198516 Centerline is valid? [True, True] Translation: X:97.59, Y:-7.05, Z:-2.04 [[ 9.99917750e-01 7.47441361e-03 1.04223502e-02 9.75899191e+01] [-7.46556625e-03 9.99971738e-01 -8.87530318e-04 -7.05484553e+00] [-1.04286895e-02 8.09648573e-04 9.99945292e-01 -2.03872367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24241403699999 meters 0.08716291646123389 Centerline is valid? [True, True] Translation: X:97.65, Y:-7.06, Z:-2.04 [[ 9.99903973e-01 8.29277859e-03 1.11029475e-02 9.76512825e+01] [-8.28274471e-03 9.99965247e-01 -9.49392135e-04 -7.05932370e+00] [-1.11104348e-02 8.57338088e-04 9.99937910e-01 -2.04015627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30241403699999 meters 0.08553198306237163 Centerline is valid? [True, True] Translation: X:97.71, Y:-7.06, Z:-2.04 [[ 9.99891413e-01 1.01304656e-02 1.07021894e-02 9.77133576e+01] [-1.01212484e-02 9.99948360e-01 -9.15047981e-04 -7.06172879e+00] [-1.07109066e-02 8.06629100e-04 9.99942311e-01 -2.04059253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362414037 meters 0.08682682505411542 Centerline is valid? [True, True] Translation: X:97.77, Y:-7.07, Z:-2.05 [[ 9.99890104e-01 1.11803890e-02 9.73543230e-03 9.77730668e+01] [-1.11728001e-02 9.99937235e-01 -8.33552716e-04 -7.07072146e+00] [-9.74414070e-03 7.24689073e-04 9.99952262e-01 -2.04510077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422414037 meters 0.08487431691663964 Centerline is valid? [True, True] Translation: X:97.83, Y:-7.07, Z:-2.04 [[ 9.99856872e-01 1.25473278e-02 1.13490500e-02 9.78336660e+01] [-1.25370948e-02 9.99920935e-01 -9.72366630e-04 -7.07158568e+00] [-1.13603533e-02 8.29943341e-04 9.99935125e-01 -2.04447002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48241403699998 meters 0.08272976294990335 Centerline is valid? [True, True] Translation: X:97.89, Y:-7.07, Z:-2.04 [[ 9.99790601e-01 1.68325310e-02 1.16370184e-02 9.78949941e+01] [-1.68220644e-02 9.99858002e-01 -9.96731904e-04 -7.06982201e+00] [-1.16521435e-02 8.00764516e-04 9.99931791e-01 -2.04430691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54241403699999 meters 0.08209085994209561 Centerline is valid? [True, True] Translation: X:97.95, Y:-7.07, Z:-2.05 [[ 9.99800886e-01 1.78394794e-02 8.94100021e-03 9.79535652e+01] [-1.78333226e-02 9.99840679e-01 -7.67853403e-04 -7.07352936e+00] [-8.95327383e-03 6.08252771e-04 9.99959734e-01 -2.04777994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60241403699999 meters 0.08461977464010403 Centerline is valid? [True, True] Translation: X:98.01, Y:-7.08, Z:-2.05 [[ 9.99803320e-01 1.76394847e-02 9.06478935e-03 9.80105341e+01] [-1.76331490e-02 9.99844221e-01 -7.78392070e-04 -7.08274827e+00] [-9.07710768e-03 6.18398194e-04 9.99958611e-01 -2.05297774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66241403699999 meters 0.08529391826947279 Centerline is valid? [True, True] Translation: X:98.07, Y:-7.09, Z:-2.06 [[ 9.99792879e-01 1.77647635e-02 9.93033758e-03 9.80677688e+01] [-1.77571804e-02 9.99841966e-01 -8.51285502e-04 -7.08688847e+00] [-9.94389114e-03 6.74774387e-04 9.99950331e-01 -2.05624594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722414037 meters 0.08495117369864337 Centerline is valid? [True, True] Translation: X:98.13, Y:-7.09, Z:-2.06 [[ 9.99805034e-01 1.63269450e-02 1.11052020e-02 9.81274392e+01] [-1.63173987e-02 9.99866411e-01 -9.49693912e-04 -7.09077942e+00] [-1.11192241e-02 7.68300745e-04 9.99937884e-01 -2.05691280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782414037 meters 0.08806578160194686 Centerline is valid? [True, True] Translation: X:98.19, Y:-7.10, Z:-2.06 [[ 9.99821676e-01 1.35772437e-02 1.31253400e-02 9.81859095e+01] [-1.35636807e-02 9.99907380e-01 -1.12181422e-03 -7.10196467e+00] [-1.31393555e-02 9.43586256e-04 9.99913230e-01 -2.05846173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84241403699998 meters 0.08817727900939522 Centerline is valid? [True, True] Translation: X:98.25, Y:-7.10, Z:-2.06 [[ 9.99835949e-01 1.28704640e-02 1.27446266e-02 9.82463638e+01] [-1.28576327e-02 9.99916745e-01 -1.08822887e-03 -7.10388234e+00] [-1.27575716e-02 9.24184621e-04 9.99918192e-01 -2.05885701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90241403699999 meters 0.09053836853655456 Centerline is valid? [True, True] Translation: X:98.31, Y:-7.11, Z:-2.07 [[ 9.99868202e-01 1.29259186e-02 9.82337814e-03 9.83058310e+01] [-1.29183020e-02 9.99916204e-01 -8.38414873e-04 -7.11161335e+00] [-9.83339226e-03 7.11403007e-04 9.99951398e-01 -2.06684863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96241403699999 meters 0.08828621276748738 Centerline is valid? [True, True] Translation: X:98.37, Y:-7.11, Z:-2.07 [[ 9.99903665e-01 1.12775645e-02 8.09184885e-03 9.83661382e+01] [-1.12723359e-02 9.99936226e-01 -6.91485384e-04 -7.11005759e+00] [-8.09913107e-03 6.00204731e-04 9.99967021e-01 -2.06996200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02241403699999 meters 0.0869697011098128 Centerline is valid? [True, True] Translation: X:98.43, Y:-7.11, Z:-2.07 [[ 9.99896321e-01 1.01653640e-02 1.01986180e-02 9.84256291e+01] [-1.01569996e-02 9.99948036e-01 -8.71609056e-04 -7.11053432e+00] [-1.02069483e-02 7.67931330e-04 9.99947613e-01 -2.06932568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08241403699999 meters 0.0886015771292994 Centerline is valid? [True, True] Translation: X:98.49, Y:-7.12, Z:-2.07 [[ 9.99873104e-01 7.49208729e-03 1.40586432e-02 9.84852392e+01] [-7.47595150e-03 9.99971335e-01 -1.19995185e-03 -7.11601328e+00] [-1.40672304e-02 1.09469785e-03 9.99900452e-01 -2.06622409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142414037 meters 0.0865274724933745 Centerline is valid? [True, True] Translation: X:98.55, Y:-7.12, Z:-2.07 [[ 9.99891750e-01 4.66382825e-03 1.39548038e-02 9.85458404e+01] [-4.64765817e-03 9.99988490e-01 -1.19095211e-03 -7.11541178e+00] [-1.39601976e-02 1.12596603e-03 9.99901918e-01 -2.06691239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202414037 meters 0.08723650032748416 Centerline is valid? [True, True] Translation: X:98.61, Y:-7.12, Z:-2.07 [[ 9.99915818e-01 5.64463275e-03 1.16831421e-02 9.86082393e+01] [-5.63342474e-03 9.99983640e-01 -9.92018516e-04 -7.11916666e+00] [-1.16885505e-02 9.26118904e-04 9.99931258e-01 -2.07078469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26241403699999 meters 0.08602203607878456 Centerline is valid? [True, True] Translation: X:98.67, Y:-7.12, Z:-2.07 [[ 9.99907105e-01 9.18215945e-03 1.00732303e-02 9.86694971e+01] [-9.17393839e-03 9.99957547e-01 -8.62033040e-04 -7.11760388e+00] [-1.00807180e-02 7.69541767e-04 9.99948892e-01 -2.07449098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32241403699999 meters 0.08605878094061686 Centerline is valid? [True, True] Translation: X:98.73, Y:-7.12, Z:-2.08 [[ 9.99844341e-01 1.35640013e-02 1.12832395e-02 9.87294797e+01] [-1.35539593e-02 9.99907674e-01 -9.65990849e-04 -7.11998051e+00] [-1.12953005e-02 8.12907915e-04 9.99935876e-01 -2.07647039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38241403699999 meters 0.08612653214109339 Centerline is valid? [True, True] Translation: X:98.79, Y:-7.12, Z:-2.08 [[ 9.99840537e-01 1.57122014e-02 8.48685231e-03 9.87888781e+01] [-1.57065905e-02 9.99876379e-01 -7.27386650e-04 -7.12196126e+00] [-8.49723200e-03 5.93971146e-04 9.99963721e-01 -2.08206899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44241403699999 meters 0.08466284880582747 Centerline is valid? [True, True] Translation: X:98.85, Y:-7.12, Z:-2.08 [[ 9.99750437e-01 2.02901925e-02 9.34732437e-03 9.88490074e+01] [-2.02835900e-02 9.99793946e-01 -8.00623001e-04 -7.12086631e+00] [-9.36164312e-03 6.10825899e-04 9.99955992e-01 -2.08397264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502414037 meters 0.07999923328969574 Centerline is valid? [True, True] Translation: X:98.91, Y:-7.11, Z:-2.08 [[ 9.99584118e-01 2.46900018e-02 1.48995054e-02 9.89098032e+01] [-2.46737270e-02 9.99694744e-01 -1.27517208e-03 -7.11208848e+00] [-1.49264412e-02 9.07015429e-04 9.99888183e-01 -2.07820200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562414037 meters 0.08043925141514921 Centerline is valid? [True, True] Translation: X:98.97, Y:-7.12, Z:-2.08 [[ 9.99575216e-01 2.50155610e-02 1.49535806e-02 9.89683196e+01] [-2.49992000e-02 9.99686652e-01 -1.28007427e-03 -7.11809691e+00] [-1.49809167e-02 9.05702965e-04 9.99887370e-01 -2.07921120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62241403699998 meters 0.08200015990864827 Centerline is valid? [True, True] Translation: X:99.03, Y:-7.13, Z:-2.09 [[ 9.99677863e-01 2.28222203e-02 1.11047929e-02 9.90273624e+01] [-2.28130778e-02 9.99739297e-01 -9.49290247e-04 -7.12699663e+00] [-1.11235628e-02 6.95649942e-04 9.99937889e-01 -2.08557800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68241403699999 meters 0.08321764999344962 Centerline is valid? [True, True] Translation: X:99.09, Y:-7.13, Z:-2.09 [[ 9.99715209e-01 2.20913756e-02 9.02618300e-03 9.90852700e+01] [-2.20852989e-02 9.99755792e-01 -7.72359659e-04 -7.13370062e+00] [-9.04104122e-03 5.72793748e-04 9.99958965e-01 -2.09113040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74241403699999 meters 0.08312306628486517 Centerline is valid? [True, True] Translation: X:99.14, Y:-7.14, Z:-2.09 [[ 9.99734107e-01 2.05182761e-02 1.05221615e-02 9.91435091e+01] [-2.05099355e-02 9.99789244e-01 -8.99970548e-04 -7.14045717e+00] [-1.05384097e-02 6.83922398e-04 9.99944236e-01 -2.09197372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80241403699999 meters 0.08523157914552289 Centerline is valid? [True, True] Translation: X:99.20, Y:-7.15, Z:-2.09 [[ 9.99756544e-01 1.90091367e-02 1.12028783e-02 9.92013863e+01] [-1.89996021e-02 9.99819033e-01 -9.56910210e-04 -7.15202081e+00] [-1.12190410e-02 7.43827014e-04 9.99936788e-01 -2.09337503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862414037 meters 0.08791880020718518 Centerline is valid? [True, True] Translation: X:99.26, Y:-7.16, Z:-2.09 [[ 9.99794852e-01 1.59521336e-02 1.24813085e-02 9.92600771e+01] [-1.59400804e-02 9.99872382e-01 -1.06459056e-03 -7.16440739e+00] [-1.24966981e-02 8.65419103e-04 9.99921539e-01 -2.09291640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922414037 meters 0.09032100214386343 Centerline is valid? [True, True] Translation: X:99.32, Y:-7.18, Z:-2.10 [[ 9.99854138e-01 1.37008808e-02 1.01974665e-02 9.93193233e+01] [-1.36927199e-02 9.99905872e-01 -8.69670764e-04 -7.17797715e+00] [-1.02084219e-02 7.29912859e-04 9.99947626e-01 -2.09874842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98241403699998 meters 0.09156803729467654 Centerline is valid? [True, True] Translation: X:99.38, Y:-7.19, Z:-2.10 [[ 9.99867166e-01 1.25789156e-02 1.03644261e-02 9.93783289e+01] [-1.25704226e-02 9.99920598e-01 -8.84169309e-04 -7.18586186e+00] [-1.03747251e-02 7.53766644e-04 9.99945897e-01 -2.10142369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04241403699999 meters 0.08741360922635072 Centerline is valid? [True, True] Translation: X:99.44, Y:-7.18, Z:-2.10 [[ 9.99910666e-01 9.61374812e-03 9.28630624e-03 9.94392580e+01] [-9.60681061e-03 9.99953540e-01 -7.91388373e-04 -7.18217840e+00] [-9.29348301e-03 7.02105890e-04 9.99956568e-01 -2.10017650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10241403699999 meters 0.08987448857567641 Centerline is valid? [True, True] Translation: X:99.50, Y:-7.19, Z:-2.10 [[ 9.99953369e-01 4.26118213e-03 8.66617297e-03 9.94982535e+01] [-4.25493934e-03 9.99990675e-01 -7.38672069e-04 -7.19438369e+00] [-8.66923977e-03 7.01763583e-04 9.99962175e-01 -2.10355656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16241403699999 meters 0.09149689715847391 Centerline is valid? [True, True] Translation: X:99.56, Y:-7.20, Z:-2.10 [[ 9.99934412e-01 -2.47722159e-03 1.11819212e-02 9.95586345e+01] [ 2.48802711e-03 9.99996451e-01 -9.52530888e-04 -7.20449634e+00] [-1.11795218e-02 9.80289336e-04 9.99937027e-01 -2.10343796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222414037 meters 0.0957862457263841 Centerline is valid? [True, True] Translation: X:99.62, Y:-7.22, Z:-2.10 [[ 9.99880142e-01 -7.73707178e-03 1.34104035e-02 9.96170399e+01] [ 7.75307576e-03 9.99969293e-01 -1.14182300e-03 -7.21704790e+00] [-1.34011573e-02 1.24565802e-03 9.99909425e-01 -2.10250823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282414037 meters 0.09860234369936206 Centerline is valid? [True, True] Translation: X:99.68, Y:-7.23, Z:-2.11 [[ 9.99894945e-01 -9.20678411e-03 1.11952480e-02 9.96764786e+01] [ 9.21803878e-03 9.99957058e-01 -9.54121888e-04 -7.22776802e+00] [-1.11859829e-02 1.05721988e-03 9.99936876e-01 -2.10660111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34241403699998 meters 0.10019395131699563 Centerline is valid? [True, False] Translation: X:99.68, Y:-7.23, Z:-2.11 [[ 9.99903635e-01 -8.57034339e-03 1.09210416e-02 9.96781375e+01] [ 8.57232653e-03 9.99963248e-01 -1.34790665e-04 -7.22833546e+00] [-1.09194850e-02 2.28396411e-04 9.99940355e-01 -2.10833641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40241403699999 meters 0.10086388992705476 Centerline is valid? [False, False] Translation: X:99.68, Y:-7.23, Z:-2.11 [[ 9.99908869e-01 -8.32593614e-03 1.06269689e-02 9.96791708e+01] [ 8.32670614e-03 9.99965332e-01 -2.82136740e-05 -7.22759889e+00] [-1.06263656e-02 1.16698750e-04 9.99943532e-01 -2.10893446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46241403699999 meters 0.09445418015004022 Centerline is valid? [False, True] Translation: X:99.68, Y:-7.23, Z:-2.11 [[ 9.99916672e-01 -7.80513624e-03 1.02824588e-02 9.96805839e+01] [ 7.80186385e-03 9.99969501e-01 3.58323889e-04 -7.22757065e+00] [-1.02849419e-02 -2.78071687e-04 9.99947070e-01 -2.10993225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52241403699999 meters 0.0968174406934613 Centerline is valid? [True, True] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99895660e-01 -8.11632860e-03 1.19496433e-02 9.97417374e+01] [ 8.12888495e-03 9.99966457e-01 -1.00257594e-03 -7.23663853e+00] [-1.19411053e-02 1.09960861e-03 9.99928098e-01 -2.11159080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58241403699999 meters 0.10365386034110283 Centerline is valid? [True, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99892528e-01 -8.42895854e-03 1.19952111e-02 9.97409856e+01] [ 8.44679078e-03 9.99963293e-01 -1.43672767e-03 -7.23595886e+00] [-1.19826607e-02 1.53789430e-03 9.99927023e-01 -2.11057957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642414037 meters 0.10540494804082748 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99899998e-01 -7.95897989e-03 1.16896450e-02 9.97422928e+01] [ 7.97087156e-03 9.99967761e-01 -9.71043653e-04 -7.23613512e+00] [-1.16815396e-02 1.06412321e-03 9.99931202e-01 -2.11158941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702414037 meters 0.09913806672386484 Centerline is valid? [False, True] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99901926e-01 -7.76220701e-03 1.16570508e-02 9.97431426e+01] [ 7.77104089e-03 9.99969551e-01 -7.12709762e-04 -7.23568702e+00] [-1.16511636e-02 8.03227281e-04 9.99931800e-01 -2.11280584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76241403699999 meters 0.11159074987163474 Centerline is valid? [True, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99898344e-01 -7.89198494e-03 1.18751483e-02 9.97428508e+01] [ 7.90099670e-03 9.99968533e-01 -7.12151439e-04 -7.23535146e+00] [-1.18691543e-02 8.05904552e-04 9.99929234e-01 -2.11310756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82241403699999 meters 0.11705543408941947 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99888715e-01 -8.20090827e-03 1.24620293e-02 9.97414623e+01] [ 8.20768154e-03 9.99966195e-01 -4.92464796e-04 -7.23675302e+00] [-1.24575694e-02 5.94694361e-04 9.99922225e-01 -2.11281840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88241403699999 meters 0.10222324118777154 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99881531e-01 -8.42233343e-03 1.28836053e-02 9.97410712e+01] [ 8.42705193e-03 9.99964443e-01 -3.11995907e-04 -7.23643100e+00] [-1.28805195e-02 4.20529757e-04 9.99916954e-01 -2.11371803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94241403699999 meters 0.10370938414551943 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99876272e-01 -8.34957762e-03 1.33313955e-02 9.97403716e+01] [ 8.34747706e-03 9.99965136e-01 2.13202380e-04 -7.23796092e+00] [-1.33327109e-02 -1.01892482e-04 9.99911110e-01 -2.11408370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002414037 meters 0.10435037256741603 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99874323e-01 -8.48350968e-03 1.33928130e-02 9.97396760e+01] [ 8.48361520e-03 9.99964012e-01 4.89338855e-05 -7.23840182e+00] [-1.33927462e-02 6.46917365e-05 9.99910311e-01 -2.11317784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062414037 meters 0.10460109517527438 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99896228e-01 -4.48143366e-03 1.36912362e-02 9.97390899e+01] [ 4.42192170e-03 9.99980658e-01 4.37390367e-03 -7.23803333e+00] [-1.37105727e-02 -4.31290821e-03 9.99896704e-01 -2.11342094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12241403699998 meters 0.10035827465378451 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99970280e-01 -6.96806122e-03 -3.29934975e-03 9.97449270e+01] [ 6.96437109e-03 9.99975112e-01 -1.12861340e-03 -7.23852876e+00] [ 3.30713188e-03 1.10560196e-03 9.99993920e-01 -2.10987706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18241403699999 meters 0.10312611814827238 Centerline is valid? [False, False] Translation: X:99.75, Y:-7.24, Z:-2.11 [[ 9.99972639e-01 -6.62377250e-03 -3.29338661e-03 9.97453112e+01] [ 6.62199145e-03 9.99977922e-01 -5.51408186e-04 -7.23971275e+00] [ 3.29696630e-03 5.29584321e-04 9.99994425e-01 -2.11044884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24241403699999 meters 0.10025029748538347 Centerline is valid? [False, False] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99991933e-01 -2.58798369e-03 -3.07169364e-03 9.97440791e+01] [ 2.59920597e-03 9.99989942e-01 3.65509873e-03 -7.24057741e+00] [ 3.06220341e-03 -3.66305321e-03 9.99988602e-01 -2.10933073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30241403699999 meters 0.099182224645609 Centerline is valid? [False, True] Translation: X:99.75, Y:-7.24, Z:-2.11 [[ 9.99992000e-01 -1.39229648e-03 -3.74974736e-03 9.97467516e+01] [ 1.41012422e-03 9.99987696e-01 4.75594427e-03 -7.24239479e+00] [ 3.74307954e-03 -4.76119384e-03 9.99981660e-01 -2.11093938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362414037 meters 0.10083935620888534 Centerline is valid? [True, False] Translation: X:99.75, Y:-7.24, Z:-2.11 [[ 9.99991949e-01 -1.01150791e-03 -3.88312808e-03 9.97477882e+01] [ 1.03137850e-03 9.99986368e-01 5.11857161e-03 -7.24280623e+00] [ 3.87789767e-03 -5.12253538e-03 9.99979361e-01 -2.11195787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422414037 meters 0.10007249491260678 Centerline is valid? [False, False] Translation: X:99.75, Y:-7.24, Z:-2.11 [[ 9.99990984e-01 -1.46606727e-03 -3.98529719e-03 9.97465369e+01] [ 1.48239649e-03 9.99990506e-01 4.09750488e-03 -7.24220879e+00] [ 3.97925214e-03 -4.10337573e-03 9.99983664e-01 -2.10942096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48241403699998 meters 0.0932990738613911 Centerline is valid? [False, True] Translation: X:99.74, Y:-7.24, Z:-2.11 [[ 9.99989791e-01 -1.92817121e-03 -4.08668175e-03 9.97448517e+01] [ 1.94166029e-03 9.99992672e-01 3.29934870e-03 -7.24274307e+00] [ 4.08029009e-03 -3.30724997e-03 9.99986207e-01 -2.10643218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54241403699999 meters 0.09599415197713049 Centerline is valid? [True, True] Translation: X:99.80, Y:-7.25, Z:-2.11 [[ 9.99950046e-01 -5.19209468e-04 -9.98174809e-03 9.98027466e+01] [ 5.28603000e-04 9.99999420e-01 9.38455648e-04 -7.25207703e+00] [ 9.98125504e-03 -9.43685151e-04 9.99949741e-01 -2.11320084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60241403699999 meters 0.09699948848979716 Centerline is valid? [True, True] Translation: X:99.86, Y:-7.26, Z:-2.12 [[ 9.99926268e-01 2.74494494e-03 -1.18289551e-02 9.98615319e+01] [-2.73197535e-03 9.99995649e-01 1.11244700e-03 -7.25981279e+00] [ 1.18319573e-02 -1.08004857e-03 9.99929417e-01 -2.11840572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66241403699999 meters 0.0934456963164968 Centerline is valid? [True, True] Translation: X:99.92, Y:-7.26, Z:-2.12 [[ 9.99957793e-01 4.64706932e-03 -7.92571880e-03 9.99227084e+01] [-4.64130535e-03 9.99988951e-01 7.45487403e-04 -7.25941044e+00] [ 7.92909556e-03 -7.08670257e-04 9.99968313e-01 -2.11522939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722414037 meters 0.09583664300111162 Centerline is valid? [True, True] Translation: X:99.98, Y:-7.27, Z:-2.12 [[ 9.99964816e-01 5.30085936e-03 -6.50137076e-03 9.99800632e+01] [-5.29700536e-03 9.99985785e-01 6.09873299e-04 -7.26848845e+00] [ 6.50451119e-03 -5.75414045e-04 9.99978680e-01 -2.11503334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782414037 meters 0.08964673010221115 Centerline is valid? [True, True] Translation: X:100.04, Y:-7.26, Z:-2.11 [[ 9.99953257e-01 6.35439403e-03 -7.28740397e-03 1.00040065e+02] [-6.34958097e-03 9.99979608e-01 6.83409263e-04 -7.25962583e+00] [ 7.29159802e-03 -6.37105357e-04 9.99973213e-01 -2.11406537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84241403699998 meters 0.0910493815491244 Centerline is valid? [True, True] Translation: X:100.10, Y:-7.27, Z:-2.12 [[ 9.99940049e-01 8.38816235e-03 -7.03827892e-03 1.00098936e+02] [-8.38372127e-03 9.99964638e-01 6.60256709e-04 -7.26669859e+00] [ 7.04356837e-03 -6.01210157e-04 9.99975013e-01 -2.11754412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90241403699999 meters 0.08940568909317069 Centerline is valid? [True, True] Translation: X:100.16, Y:-7.27, Z:-2.12 [[ 9.99929688e-01 9.53362002e-03 -7.05194570e-03 1.00158338e+02] [-9.52919419e-03 9.99954378e-01 6.60938508e-04 -7.26829845e+00] [ 7.05792511e-03 -5.93692676e-04 9.99974916e-01 -2.11713981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96241403699999 meters 0.08786077090568291 Centerline is valid? [True, True] Translation: X:100.22, Y:-7.27, Z:-2.12 [[ 9.99874252e-01 1.47547524e-02 -5.81182093e-03 1.00219651e+02] [-1.47518314e-02 9.99891037e-01 5.45147015e-04 -7.26686928e+00] [ 5.81923117e-03 -4.59343462e-04 9.99982963e-01 -2.11552356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02241403699999 meters 0.08629938248481338 Centerline is valid? [True, True] Translation: X:100.28, Y:-7.27, Z:-2.12 [[ 9.99816243e-01 1.87235130e-02 -4.11229447e-03 1.00280097e+02] [-1.87220843e-02 9.99824652e-01 3.85658702e-04 -7.26787680e+00] [ 4.11879427e-03 -3.08597111e-04 9.99991470e-01 -2.11589034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08241403699999 meters 0.08358685262951572 Centerline is valid? [True, True] Translation: X:100.34, Y:-7.27, Z:-2.12 [[ 9.99725077e-01 2.22492559e-02 -7.39865863e-03 1.00340917e+02] [-2.22447283e-02 9.99752315e-01 6.93690948e-04 -7.26555251e+00] [ 7.41226020e-03 -5.28919086e-04 9.99972389e-01 -2.12015668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142414037 meters 0.08483968127688807 Centerline is valid? [True, True] Translation: X:100.40, Y:-7.27, Z:-2.13 [[ 9.99616849e-01 2.59258703e-02 -9.69555938e-03 1.00399359e+02] [-2.59182718e-02 9.99663652e-01 9.08556929e-04 -7.27055685e+00] [ 9.71585343e-03 -6.56916671e-04 9.99952584e-01 -2.12647742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202414037 meters 0.08061107102653443 Centerline is valid? [True, True] Translation: X:100.46, Y:-7.27, Z:-2.12 [[ 9.99607003e-01 2.75050922e-02 -5.41389734e-03 1.00459758e+02] [-2.75027485e-02 9.99621599e-01 5.06882266e-04 -7.26835012e+00] [ 5.42579056e-03 -3.57786005e-04 9.99985216e-01 -2.12241157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26241403699999 meters 0.08313146852193443 Centerline is valid? [True, True] Translation: X:100.52, Y:-7.28, Z:-2.12 [[ 9.99604606e-01 2.79730594e-02 -2.85290666e-03 1.00517171e+02] [-2.79724130e-02 9.99608660e-01 2.66233253e-04 -7.27933873e+00] [ 2.85923756e-03 -1.86325302e-04 9.99995895e-01 -2.12192945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32241403699999 meters 0.08170883563572824 Centerline is valid? [True, True] Translation: X:100.58, Y:-7.28, Z:-2.12 [[ 9.99420183e-01 3.34508682e-02 -6.35114183e-03 1.00577222e+02] [-3.34477618e-02 9.99440290e-01 5.94734643e-04 -7.28014930e+00] [ 6.36748142e-03 -3.81958327e-04 9.99979654e-01 -2.12299503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38241403699999 meters 0.07934843202412921 Centerline is valid? [True, True] Translation: X:100.64, Y:-7.28, Z:-2.12 [[ 9.99288183e-01 3.68154422e-02 -8.23109503e-03 1.00637117e+02] [-3.68103439e-02 9.99321973e-01 7.70084126e-04 -7.27826100e+00] [ 8.25386512e-03 -4.66546528e-04 9.99965827e-01 -2.12380254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44241403699999 meters 0.07897146494098886 Centerline is valid? [True, True] Translation: X:100.70, Y:-7.28, Z:-2.12 [[ 9.99121250e-01 4.14294941e-02 -6.35014680e-03 1.00696943e+02] [-4.14265510e-02 9.99141375e-01 5.94368860e-04 -7.28171859e+00] [ 6.36931881e-03 -3.30781878e-04 9.99979661e-01 -2.12398163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502414037 meters 0.07741809564431193 Centerline is valid? [True, True] Translation: X:100.76, Y:-7.29, Z:-2.12 [[ 9.99106666e-01 4.20868467e-02 -3.81681869e-03 1.00755782e+02] [-4.20857926e-02 9.99113937e-01 3.56113218e-04 -7.28659143e+00] [ 3.82842443e-03 -1.95161250e-04 9.99992653e-01 -2.12258185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562414037 meters 0.07641028257553313 Centerline is valid? [True, True] Translation: X:100.81, Y:-7.29, Z:-2.12 [[ 9.99097597e-01 4.23506980e-02 -3.22644624e-03 1.00814831e+02] [-4.23499507e-02 9.99102793e-01 2.99625747e-04 -7.29124126e+00] [ 3.23624081e-03 -1.62715525e-04 9.99994750e-01 -2.12160162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62241403699998 meters 0.07676162448995828 Centerline is valid? [True, True] Translation: X:100.87, Y:-7.30, Z:-2.12 [[ 9.99020933e-01 4.39532677e-02 -5.02840943e-03 1.00871930e+02] [-4.39514668e-02 9.99033558e-01 4.68146257e-04 -7.30014593e+00] [ 5.04412632e-03 -2.46681941e-04 9.99987248e-01 -2.12355136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68241403699999 meters 0.07615870463755858 Centerline is valid? [True, True] Translation: X:100.93, Y:-7.31, Z:-2.13 [[ 9.98910492e-01 4.60445239e-02 -7.59802029e-03 1.00930981e+02] [-4.60404790e-02 9.98939325e-01 7.06515913e-04 -7.30563525e+00] [ 7.62249245e-03 -3.55929665e-04 9.99970885e-01 -2.12700689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74241403699999 meters 0.08304404429424316 Centerline is valid? [True, True] Translation: X:100.99, Y:-7.33, Z:-2.14 [[ 9.98780060e-01 4.91479212e-02 -4.78262105e-03 1.00987183e+02] [-4.91463534e-02 9.98791489e-01 4.44848084e-04 -7.33349562e+00] [ 4.79870455e-03 -2.09257012e-04 9.99988464e-01 -2.13607807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80241403699999 meters 0.07541866125186977 Centerline is valid? [True, True] Translation: X:101.05, Y:-7.32, Z:-2.13 [[ 9.98625585e-01 5.20659730e-02 -6.00622588e-03 1.01047900e+02] [-5.20635727e-02 9.98643618e-01 5.55400912e-04 -7.32116493e+00] [ 6.02699663e-03 -2.41931983e-04 9.99981808e-01 -2.12807496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862414037 meters 0.07546387073382334 Centerline is valid? [True, True] Translation: X:101.11, Y:-7.33, Z:-2.13 [[ 9.98538993e-01 5.34496651e-02 -7.93807222e-03 1.01105721e+02] [-5.34455244e-02 9.98570498e-01 7.32994489e-04 -7.33024464e+00] [ 7.96590304e-03 -3.07669146e-04 9.99968224e-01 -2.13004608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922414037 meters 0.07579953581039758 Centerline is valid? [True, True] Translation: X:101.16, Y:-7.34, Z:-2.13 [[ 9.98539257e-01 5.30123795e-02 -1.04422612e-02 1.01163509e+02] [-5.30051682e-02 9.98593770e-01 9.66323537e-04 -7.33941285e+00] [ 1.04788041e-02 -4.11418173e-04 9.99945011e-01 -2.13248563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98241403699998 meters 0.07448815599948573 Centerline is valid? [True, True] Translation: X:101.22, Y:-7.35, Z:-2.13 [[ 9.98654533e-01 5.12928423e-02 -7.62680178e-03 1.01221149e+02] [-5.12889836e-02 9.98683608e-01 7.00797791e-04 -7.34704758e+00] [ 7.65270783e-03 -3.08683979e-04 9.99970670e-01 -2.12636512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04241403699999 meters 0.0772001409602289 Centerline is valid? [True, True] Translation: X:101.28, Y:-7.37, Z:-2.13 [[ 9.98756682e-01 4.91770594e-02 -8.16743913e-03 1.01278188e+02] [-4.91725439e-02 9.98790015e-01 7.52880946e-04 -7.36549657e+00] [ 8.19458112e-03 -3.50331117e-04 9.99966362e-01 -2.13121426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10241403699999 meters 0.07602323380233009 Centerline is valid? [True, True] Translation: X:101.34, Y:-7.37, Z:-2.13 [[ 9.98808750e-01 4.79977158e-02 -8.79203209e-03 1.01336930e+02] [-4.79924742e-02 9.98847372e-01 8.06306227e-04 -7.37242216e+00] [ 8.82059900e-03 -3.83394341e-04 9.99961024e-01 -2.13075592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16241403699999 meters 0.07551804254299484 Centerline is valid? [True, True] Translation: X:101.40, Y:-7.38, Z:-2.13 [[ 9.98750136e-01 4.89707287e-02 -1.00016457e-02 1.01395027e+02] [-4.89640140e-02 9.98800124e-01 9.15277464e-04 -7.38108583e+00] [ 1.00344667e-02 -4.24412773e-04 9.99949563e-01 -2.13071786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222414037 meters 0.07496523302422244 Centerline is valid? [True, True] Translation: X:101.45, Y:-7.39, Z:-2.13 [[ 9.98678197e-01 5.04786188e-02 -9.68341399e-03 1.01453411e+02] [-5.04723806e-02 9.98725063e-01 8.87668786e-04 -7.38910716e+00] [ 9.71587654e-03 -3.97750506e-04 9.99952721e-01 -2.12965370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282414037 meters 0.07522259786592339 Centerline is valid? [True, True] Translation: X:101.51, Y:-7.40, Z:-2.13 [[ 9.98646247e-01 5.08090009e-02 -1.11408499e-02 1.01510950e+02] [-5.08007756e-02 9.98708286e-01 1.02024004e-03 -7.39978098e+00] [ 1.11782965e-02 -4.52895075e-04 9.99937418e-01 -2.13151039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34241403699998 meters 0.0755372439207844 Centerline is valid? [True, True] Translation: X:101.57, Y:-7.41, Z:-2.13 [[ 9.98717645e-01 4.89774209e-02 -1.28171134e-02 1.01569655e+02] [-4.89663837e-02 9.98799738e-01 1.17372239e-03 -7.40867254e+00] [ 1.28592154e-02 -5.44609563e-04 9.99917169e-01 -2.13333882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40241403699999 meters 0.07692246572982163 Centerline is valid? [True, True] Translation: X:101.63, Y:-7.42, Z:-2.14 [[ 9.98916970e-01 4.41923929e-02 -1.45574407e-02 1.01629136e+02] [-4.41776376e-02 9.99022801e-01 1.33376627e-03 -7.42425507e+00] [ 1.46021575e-02 -6.89208419e-04 9.99893145e-01 -2.13713382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46241403699999 meters 0.07880581961954855 Centerline is valid? [True, True] Translation: X:101.69, Y:-7.44, Z:-2.14 [[ 9.99236604e-01 3.73022698e-02 -1.16081399e-02 1.01688554e+02] [-3.72924253e-02 9.99303830e-01 1.06344604e-03 -7.43994985e+00] [ 1.16397276e-02 -6.29738525e-04 9.99932058e-01 -2.13620352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52241403699999 meters 0.07944488580825408 Centerline is valid? [True, True] Translation: X:101.75, Y:-7.45, Z:-2.13 [[ 9.99479670e-01 3.04990782e-02 -1.04974338e-02 1.01748146e+02] [-3.04906548e-02 9.99534589e-01 9.61562709e-04 -7.45116048e+00] [ 1.05218750e-02 -6.40988748e-04 9.99944438e-01 -2.13368950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58241403699999 meters 0.08347831549163214 Centerline is valid? [True, True] Translation: X:101.81, Y:-7.47, Z:-2.14 [[ 9.99701642e-01 2.12479855e-02 -1.20478146e-02 1.01806162e+02] [-2.12362230e-02 9.99773877e-01 1.10342465e-03 -7.47019179e+00] [ 1.20685359e-02 -8.47245360e-04 9.99926814e-01 -2.13783873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642414037 meters 0.08452037695130318 Centerline is valid? [True, True] Translation: X:101.87, Y:-7.48, Z:-2.14 [[ 9.99773377e-01 1.67503364e-02 -1.31385508e-02 1.01866188e+02] [-1.67359586e-02 9.99859220e-01 1.20351453e-03 -7.47855049e+00] [ 1.31568604e-02 -9.83355547e-04 9.99912961e-01 -2.13992747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702414037 meters 0.08839793753276046 Centerline is valid? [True, True] Translation: X:101.92, Y:-7.49, Z:-2.14 [[ 9.99845640e-01 1.32319332e-02 -1.15591096e-02 1.01924648e+02] [-1.32205740e-02 9.99912044e-01 1.05857231e-03 -7.48873735e+00] [ 1.15720999e-02 -9.05590846e-04 9.99932631e-01 -2.14125483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76241403699999 meters 0.08881085798372083 Centerline is valid? [True, True] Translation: X:101.98, Y:-7.49, Z:-2.14 [[ 9.99876022e-01 1.00232779e-02 -1.21439476e-02 1.01984614e+02] [-1.00105035e-02 9.99949275e-01 1.11224670e-03 -7.49375742e+00] [ 1.21544799e-02 -9.90541780e-04 9.99925641e-01 -2.14251172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82241403699999 meters 0.09165164724963043 Centerline is valid? [True, True] Translation: X:102.04, Y:-7.50, Z:-2.15 [[ 9.99885867e-01 7.28568283e-03 -1.32352748e-02 1.02043133e+02] [-7.27027716e-03 9.99972837e-01 1.21172784e-03 -7.50104209e+00] [ 1.32437436e-02 -1.11536543e-03 9.99911676e-01 -2.14548624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88241403699999 meters 0.0894915275599609 Centerline is valid? [True, True] Translation: X:102.10, Y:-7.50, Z:-2.14 [[ 9.99914245e-01 4.84549737e-03 -1.21664794e-02 1.02104453e+02] [-4.83229747e-03 9.99987704e-01 1.11410291e-03 -7.49518554e+00] [ 1.21717282e-02 -1.05521532e-03 9.99925365e-01 -2.14320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94241403699999 meters 0.08914695950890052 Centerline is valid? [True, True] Translation: X:102.16, Y:-7.50, Z:-2.14 [[ 9.99946859e-01 3.69783150e-03 -9.62313504e-03 1.02163514e+02] [-3.68953630e-03 9.99992807e-01 8.79616100e-04 -7.49525066e+00] [ 9.62631849e-03 -8.44064450e-04 9.99953310e-01 -2.14244795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002414037 meters 0.08885400634335736 Centerline is valid? [True, True] Translation: X:102.22, Y:-7.50, Z:-2.14 [[ 9.99955625e-01 2.99326285e-03 -8.93241310e-03 1.02222252e+02] [-2.98609410e-03 9.99995209e-01 8.15784267e-04 -7.49597560e+00] [ 8.93481216e-03 -7.89075040e-04 9.99959772e-01 -2.14212215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062414037 meters 0.09011971352430592 Centerline is valid? [True, True] Translation: X:102.28, Y:-7.50, Z:-2.14 [[ 9.99948334e-01 2.30726140e-03 -9.89977271e-03 1.02281444e+02] [-2.29842807e-03 9.99996950e-01 9.03561163e-04 -7.49517094e+00] [ 9.90182728e-03 -8.80760565e-04 9.99950588e-01 -2.14440682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12241403699998 meters 0.09729278260140363 Centerline is valid? [True, True] Translation: X:102.34, Y:-7.51, Z:-2.15 [[ 9.99966341e-01 -8.64392582e-04 -8.15903954e-03 1.02339009e+02] [ 8.70499249e-04 9.99999344e-01 7.44932586e-04 -7.51158063e+00] [ 8.15839027e-03 -7.52009950e-04 9.99966437e-01 -2.14940051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18241403699999 meters 0.09244429805410445 Centerline is valid? [True, True] Translation: X:102.40, Y:-7.50, Z:-2.15 [[ 9.99948683e-01 -3.77651426e-03 -9.40052692e-03 1.02400166e+02] [ 3.78475180e-03 9.99992469e-01 8.58649268e-04 -7.50324000e+00] [ 9.39721343e-03 -8.94183866e-04 9.99955445e-01 -2.14914357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24241403699999 meters 0.09868754115714114 Centerline is valid? [True, True] Translation: X:102.46, Y:-7.52, Z:-2.15 [[ 9.99940533e-01 -4.26087905e-03 -1.00386973e-02 1.02456564e+02] [ 4.27027271e-03 9.99990464e-01 9.14495879e-04 -7.51597134e+00] [ 1.00347050e-02 -9.57309472e-04 9.99949193e-01 -2.15336508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30241403699999 meters 0.09301246529506255 Centerline is valid? [True, True] Translation: X:102.52, Y:-7.51, Z:-2.15 [[ 9.99941500e-01 -3.85923214e-03 -1.01046171e-02 1.02516895e+02] [ 3.86868856e-03 9.99992097e-01 9.16472249e-04 -7.50775166e+00] [ 1.01010003e-02 -9.55510251e-04 9.99948527e-01 -2.15102961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362414037 meters 0.09679225514249032 Centerline is valid? [True, True] Translation: X:102.58, Y:-7.52, Z:-2.15 [[ 9.99929029e-01 -1.72791918e-03 -1.17877668e-02 1.02575202e+02] [ 1.74067420e-03 9.99997911e-01 1.07188159e-03 -7.51590313e+00] [ 1.17858900e-02 -1.09232418e-03 9.99929947e-01 -2.15464472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422414037 meters 0.09286038326002423 Centerline is valid? [True, True] Translation: X:102.64, Y:-7.51, Z:-2.15 [[ 9.99952228e-01 -7.16447401e-04 -9.74823346e-03 1.02635931e+02] [ 7.25122499e-04 9.99999344e-01 8.86409612e-04 -7.51062565e+00] [ 9.74759200e-03 -8.93435930e-04 9.99952092e-01 -2.15229018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48241403699998 meters 0.0949021036454904 Centerline is valid? [True, True] Translation: X:102.69, Y:-7.52, Z:-2.15 [[ 9.99966358e-01 -3.91633972e-04 -8.19327457e-03 1.02693605e+02] [ 3.97737605e-04 9.99999645e-01 7.43340400e-04 -7.51806953e+00] [ 8.19298054e-03 -7.46574166e-04 9.99966158e-01 -2.15269778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54241403699999 meters 0.09926892817751452 Centerline is valid? [True, True] Translation: X:102.75, Y:-7.53, Z:-2.15 [[ 9.99966055e-01 -2.82593174e-04 -8.23460401e-03 1.02750416e+02] [ 2.88749428e-04 9.99999680e-01 7.46428401e-04 -7.52888105e+00] [ 8.23439044e-03 -7.48780801e-04 9.99965816e-01 -2.15463738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60241403699999 meters 0.09708927405758878 Centerline is valid? [True, True] Translation: X:102.81, Y:-7.53, Z:-2.16 [[ 9.99950884e-01 -4.95430585e-04 -9.89864795e-03 1.02808802e+02] [ 5.04331033e-04 9.99999471e-01 8.96681955e-04 -7.52914036e+00] [ 9.89819846e-03 -9.01630109e-04 9.99950605e-01 -2.15777068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66241403699999 meters 0.0934414530045889 Centerline is valid? [True, True] Translation: X:102.87, Y:-7.53, Z:-2.16 [[ 9.99903076e-01 -2.08878263e-04 -1.39210583e-02 1.02867912e+02] [ 2.26384129e-04 9.99999186e-01 1.25594576e-03 -7.52702336e+00] [ 1.39207846e-02 -1.25897553e-03 9.99902309e-01 -2.16249406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722414037 meters 0.09378509428571098 Centerline is valid? [True, True] Translation: X:102.93, Y:-7.53, Z:-2.16 [[ 9.99940811e-01 1.36289668e-03 -1.07942956e-02 1.02927465e+02] [-1.35244175e-03 9.99998609e-01 9.75801317e-04 -7.52959588e+00] [ 1.07956105e-02 -9.61144905e-04 9.99941264e-01 -2.15894897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782414037 meters 0.09348875174857549 Centerline is valid? [True, True] Translation: X:102.99, Y:-7.53, Z:-2.16 [[ 9.99960195e-01 3.20398377e-03 -8.32728159e-03 1.02987949e+02] [-3.19782414e-03 9.99994604e-01 7.52901762e-04 -7.53474710e+00] [ 8.32964894e-03 -7.26242610e-04 9.99965044e-01 -2.15715935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84241403699998 meters 0.09513856763545216 Centerline is valid? [True, True] Translation: X:103.05, Y:-7.54, Z:-2.16 [[ 9.99942349e-01 3.07186031e-03 -1.02889339e-02 1.03045836e+02] [-3.06246899e-03 9.99994880e-01 9.28390064e-04 -7.54246343e+00] [ 1.02917331e-02 -8.96827001e-04 9.99946637e-01 -2.15940807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90241403699999 meters 0.0951184511115653 Centerline is valid? [True, True] Translation: X:103.11, Y:-7.55, Z:-2.16 [[ 9.99926683e-01 5.18643594e-03 -1.09420692e-02 1.03105457e+02] [-5.17593137e-03 9.99986117e-01 9.88117815e-04 -7.54751670e+00] [ 1.09470421e-02 -9.31409970e-04 9.99939646e-01 -2.16171591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96241403699999 meters 0.08937122453332279 Centerline is valid? [True, True] Translation: X:103.17, Y:-7.54, Z:-2.16 [[ 9.99831777e-01 1.11013961e-02 -1.46005498e-02 1.03167055e+02] [-1.10833186e-02 9.99937709e-01 1.31847423e-03 -7.53792108e+00] [ 1.46142772e-02 -1.15642989e-03 9.99892537e-01 -2.16224945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02241403699999 meters 0.08653964836778111 Centerline is valid? [True, True] Translation: X:103.23, Y:-7.54, Z:-2.16 [[ 9.99823440e-01 1.24806064e-02 -1.40471606e-02 1.03227112e+02] [-1.24640201e-02 9.99921518e-01 1.26769090e-03 -7.53777407e+00] [ 1.40618797e-02 -1.09238299e-03 9.99900530e-01 -2.16117129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08241403699999 meters 0.08820627058536108 Centerline is valid? [True, True] Translation: X:103.29, Y:-7.55, Z:-2.16 [[ 9.99825835e-01 1.42341851e-02 -1.20701476e-02 1.03285208e+02] [-1.42220772e-02 9.99898269e-01 1.08837315e-03 -7.54527225e+00] [ 1.20844118e-02 -9.16521017e-04 9.99926561e-01 -2.16287697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142414037 meters 0.0944193333362465 Centerline is valid? [True, True] Translation: X:103.34, Y:-7.56, Z:-2.17 [[ 9.99831101e-01 1.41228160e-02 -1.17607245e-02 1.03341526e+02] [-1.41113303e-02 9.99899869e-01 1.05903124e-03 -7.56168238e+00] [ 1.17745034e-02 -8.92892909e-04 9.99930279e-01 -2.16663798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202414037 meters 0.08727488650611694 Centerline is valid? [True, True] Translation: X:103.40, Y:-7.55, Z:-2.16 [[ 9.99789829e-01 1.61772322e-02 -1.25934646e-02 1.03402669e+02] [-1.61642239e-02 9.99868707e-01 1.13404548e-03 -7.55128095e+00] [ 1.26101569e-02 -9.30243551e-04 9.99920056e-01 -2.16349053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26241403699999 meters 0.0861552661254466 Centerline is valid? [True, True] Translation: X:103.46, Y:-7.55, Z:-2.17 [[ 9.99699379e-01 1.92402984e-02 -1.51974600e-02 1.03462221e+02] [-1.92217092e-02 9.99814310e-01 1.36831461e-03 -7.55287897e+00] [ 1.52209648e-02 -1.07578211e-03 9.99883576e-01 -2.16791434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32241403699999 meters 0.0853684487125292 Centerline is valid? [True, True] Translation: X:103.52, Y:-7.56, Z:-2.17 [[ 9.99693891e-01 2.08533364e-02 -1.33139883e-02 1.03522426e+02] [-2.08392127e-02 9.99782121e-01 1.19868440e-03 -7.55680766e+00] [ 1.33360840e-02 -9.20864440e-04 9.99910646e-01 -2.16674173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38241403699999 meters 0.08118341510238371 Centerline is valid? [True, True] Translation: X:103.58, Y:-7.55, Z:-2.16 [[ 9.99628873e-01 2.55303379e-02 -9.50356640e-03 1.03583344e+02] [-2.55233534e-02 9.99673860e-01 8.55510085e-04 -7.55319272e+00] [ 9.52230837e-03 -6.12629698e-04 9.99954474e-01 -2.16060691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44241403699999 meters 0.07992929329777411 Centerline is valid? [True, True] Translation: X:103.64, Y:-7.55, Z:-2.16 [[ 9.99393529e-01 3.30932151e-02 -1.08357489e-02 1.03642269e+02] [-3.30845860e-02 9.99452080e-01 9.74696269e-04 -7.55482298e+00] [ 1.08620676e-02 -6.15608878e-04 9.99940817e-01 -2.16332388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502414037 meters 0.0765497242334276 Centerline is valid? [True, True] Translation: X:103.70, Y:-7.55, Z:-2.17 [[ 9.99039837e-01 4.17066589e-02 -1.34149001e-02 1.03702459e+02] [-4.16942086e-02 9.99129690e-01 1.20655513e-03 -7.54987258e+00] [ 1.34535464e-02 -6.46072991e-04 9.99909288e-01 -2.16550643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562414037 meters 0.07415897440544833 Centerline is valid? [True, True] Translation: X:103.76, Y:-7.55, Z:-2.16 [[ 9.98575415e-01 5.20495745e-02 -1.17465711e-02 1.03763035e+02] [-5.20407418e-02 9.98644404e-01 1.05655540e-03 -7.54757337e+00] [ 1.17856408e-02 -4.43749976e-04 9.99930448e-01 -2.16432563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62241403699998 meters 0.07379585220189279 Centerline is valid? [True, True] Translation: X:103.82, Y:-7.55, Z:-2.16 [[ 9.98353845e-01 5.63341830e-02 -1.07731451e-02 1.03822310e+02] [-5.63270099e-02 9.98411904e-01 9.68334527e-04 -7.55202043e+00] [ 1.08105867e-02 -3.59921446e-04 9.99941499e-01 -2.16467888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68241403699999 meters 0.07300274947923584 Centerline is valid? [True, True] Translation: X:103.88, Y:-7.56, Z:-2.16 [[ 9.98185185e-01 5.88704288e-02 -1.26731863e-02 1.03880936e+02] [-5.88607794e-02 9.98265558e-01 1.13337529e-03 -7.55765254e+00] [ 1.27179277e-02 -3.85364800e-04 9.99919050e-01 -2.16472312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74241403699999 meters 0.07311803171708622 Centerline is valid? [True, True] Translation: X:103.94, Y:-7.56, Z:-2.17 [[ 9.98187023e-01 5.86118797e-02 -1.36863294e-02 1.03939144e+02] [-5.86006421e-02 9.98280759e-01 1.22102529e-03 -7.56495665e+00] [ 1.37343659e-02 -4.16783909e-04 9.99905592e-01 -2.16574486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80241403699999 meters 0.07344863518082395 Centerline is valid? [True, True] Translation: X:104.00, Y:-7.58, Z:-2.17 [[ 9.98348482e-01 5.54091530e-02 -1.51701821e-02 1.03997358e+02] [-5.53949551e-02 9.98463601e-01 1.35484019e-03 -7.57750397e+00] [ 1.52219452e-02 -5.12251087e-04 9.99884008e-01 -2.16515615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862414037 meters 0.07412777341089388 Centerline is valid? [True, True] Translation: X:104.06, Y:-7.59, Z:-2.17 [[ 9.98550625e-01 5.18927030e-02 -1.42757097e-02 1.04055828e+02] [-5.18797712e-02 9.98652524e-01 1.27495146e-03 -7.59207182e+00] [ 1.43226342e-02 -5.32483024e-04 9.99897284e-01 -2.16643696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922414037 meters 0.07597357674329554 Centerline is valid? [True, True] Translation: X:104.11, Y:-7.61, Z:-2.17 [[ 9.98949432e-01 4.38461857e-02 -1.33246042e-02 1.04114071e+02] [-4.38342054e-02 9.99038111e-01 1.18997214e-03 -7.61342121e+00] [ 1.33639631e-02 -6.04648555e-04 9.99910515e-01 -2.16540428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98241403699998 meters 0.07780457197830487 Centerline is valid? [True, True] Translation: X:104.17, Y:-7.63, Z:-2.17 [[ 9.99145959e-01 3.73770914e-02 -1.76154843e-02 1.04172517e+02] [-3.73551523e-02 9.99300815e-01 1.57295919e-03 -7.63150497e+00] [ 1.76619604e-02 -9.13586716e-04 9.99843598e-01 -2.16740751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04241403699999 meters 0.07843914829255721 Centerline is valid? [True, True] Translation: X:104.23, Y:-7.65, Z:-2.17 [[ 9.99305667e-01 3.35640610e-02 -1.61752266e-02 1.04231890e+02] [-3.35450617e-02 9.99436162e-01 1.44456346e-03 -7.64715846e+00] [ 1.62145918e-02 -9.00961483e-04 9.99868129e-01 -2.16788715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10241403699999 meters 0.07990438427847288 Centerline is valid? [True, True] Translation: X:104.29, Y:-7.66, Z:-2.17 [[ 9.99301801e-01 3.33633343e-02 -1.68165934e-02 1.04288317e+02] [-3.33428124e-02 9.99442849e-01 1.49931556e-03 -7.66271568e+00] [ 1.68572462e-02 -9.37556224e-04 9.99857467e-01 -2.16885003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16241403699999 meters 0.0787290849168787 Centerline is valid? [True, True] Translation: X:104.35, Y:-7.67, Z:-2.17 [[ 9.99245071e-01 3.48850657e-02 -1.70973966e-02 1.04347223e+02] [-3.48640900e-02 9.99390902e-01 1.52346045e-03 -7.66788801e+00] [ 1.71401287e-02 -9.26225169e-04 9.99852668e-01 -2.16764686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222414037 meters 0.07760168524374274 Centerline is valid? [True, True] Translation: X:104.41, Y:-7.68, Z:-2.17 [[ 9.99174497e-01 3.69063170e-02 -1.69778958e-02 1.04406593e+02] [-3.68859268e-02 9.99318338e-01 1.51266875e-03 -7.67658758e+00] [ 1.70221496e-02 -8.85174616e-04 9.99854721e-01 -2.16547923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282414037 meters 0.07720543410141514 Centerline is valid? [True, True] Translation: X:104.46, Y:-7.68, Z:-2.17 [[ 9.99182366e-01 3.67886403e-02 -1.67688975e-02 1.04464816e+02] [-3.67688479e-02 9.99322691e-01 1.48718973e-03 -7.68428866e+00] [ 1.68122514e-02 -8.69400715e-04 9.99858286e-01 -2.16566013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34241403699998 meters 0.07743888224079704 Centerline is valid? [True, True] Translation: X:104.52, Y:-7.69, Z:-2.17 [[ 9.99110462e-01 3.68109506e-02 -2.05727622e-02 1.04523278e+02] [-3.67811166e-02 9.99321676e-01 1.82680459e-03 -7.69421629e+00] [ 2.06260536e-02 -1.06849041e-03 9.99786689e-01 -2.16787198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40241403699999 meters 0.07890161384968794 Centerline is valid? [True, True] Translation: X:104.58, Y:-7.71, Z:-2.17 [[ 9.99146484e-01 3.47224199e-02 -2.23753781e-02 1.04581170e+02] [-3.46865959e-02 9.99396263e-01 1.98728810e-03 -7.70627340e+00] [ 2.24308727e-02 -1.20946622e-03 9.99747665e-01 -2.17097269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46241403699999 meters 0.08069967676557545 Centerline is valid? [True, True] Translation: X:104.64, Y:-7.72, Z:-2.17 [[ 9.99366067e-01 2.85402426e-02 -2.12818877e-02 1.04640567e+02] [-2.85064349e-02 9.99591822e-01 1.89030904e-03 -7.72175264e+00] [ 2.13271507e-02 -1.28243996e-03 9.99771728e-01 -2.17372463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52241403699999 meters 0.08075331191930711 Centerline is valid? [True, True] Translation: X:104.70, Y:-7.73, Z:-2.17 [[ 9.99555186e-01 2.43015040e-02 -1.72877427e-02 1.04699250e+02] [-2.42786047e-02 9.99704055e-01 1.53327618e-03 -7.72984984e+00] [ 1.73198874e-02 -1.11287189e-03 9.99849380e-01 -2.17057227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58241403699999 meters 0.08423475900027692 Centerline is valid? [True, True] Translation: X:104.76, Y:-7.75, Z:-2.17 [[ 9.99593483e-01 2.32070740e-02 -1.65619949e-02 1.04755654e+02] [-2.31859337e-02 9.99730093e-01 1.46733361e-03 -7.74571734e+00] [ 1.65915772e-02 -1.08273179e-03 9.99861764e-01 -2.17316004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642414037 meters 0.0802224847935548 Centerline is valid? [True, True] Translation: X:104.82, Y:-7.74, Z:-2.17 [[ 9.99510956e-01 2.60639168e-02 -1.72777444e-02 1.04816433e+02] [-2.60413232e-02 9.99659694e-01 1.53140673e-03 -7.74264297e+00] [ 1.73117791e-02 -1.08072248e-03 9.99849556e-01 -2.16953778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702414037 meters 0.07784877761874702 Centerline is valid? [True, True] Translation: X:104.88, Y:-7.74, Z:-2.17 [[ 9.99229195e-01 3.38321832e-02 -1.99097757e-02 1.04876892e+02] [-3.38037362e-02 9.99426934e-01 1.76370713e-03 -7.74171150e+00] [ 1.99580361e-02 -1.08932286e-03 9.99800225e-01 -2.17118141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76241403699999 meters 0.07677856861218733 Centerline is valid? [True, True] Translation: X:104.94, Y:-7.75, Z:-2.18 [[ 9.98925061e-01 4.10059929e-02 -2.16155501e-02 1.04937617e+02] [-4.09741349e-02 9.99158373e-01 1.91487127e-03 -7.74521883e+00] [ 2.16758790e-02 -1.02713444e-03 9.99764523e-01 -2.17564481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82241403699999 meters 0.07615402628960889 Centerline is valid? [True, True] Translation: X:105.00, Y:-7.75, Z:-2.18 [[ 9.98747391e-01 4.56776304e-02 -2.04255298e-02 1.04997575e+02] [-4.56501591e-02 9.98955849e-01 1.80944132e-03 -7.74867160e+00] [ 2.04868535e-02 -8.74746110e-04 9.99789740e-01 -2.17678997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88241403699999 meters 0.07595217548310185 Centerline is valid? [True, True] Translation: X:105.06, Y:-7.76, Z:-2.17 [[ 9.98811438e-01 4.60935524e-02 -1.58459926e-02 1.05057090e+02] [-4.60770790e-02 9.98936902e-01 1.40331552e-03 -7.75686782e+00] [ 1.58938305e-02 -6.71510544e-04 9.99873460e-01 -2.17393417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94241403699999 meters 0.07650797967334765 Centerline is valid? [True, True] Translation: X:105.12, Y:-7.77, Z:-2.17 [[ 9.98975126e-01 4.21661710e-02 -1.64533346e-02 1.05115981e+02] [-4.21478832e-02 9.99110321e-01 1.45683251e-03 -7.77206474e+00] [ 1.65001254e-02 -7.61866221e-04 9.99863573e-01 -2.17196871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002414037 meters 0.07757211650952764 Centerline is valid? [True, True] Translation: X:105.18, Y:-7.78, Z:-2.17 [[ 9.99132089e-01 3.62107191e-02 -2.05876766e-02 1.05175212e+02] [-3.61808277e-02 9.99343597e-01 1.82265805e-03 -7.78420511e+00] [ 2.06401626e-02 -1.07619697e-03 9.99786390e-01 -2.17435325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062414037 meters 0.07810629019451946 Centerline is valid? [True, True] Translation: X:105.23, Y:-7.79, Z:-2.18 [[ 9.99221302e-01 3.18188777e-02 -2.33312999e-02 1.05234710e+02] [-3.17792904e-02 9.99492776e-01 2.06565467e-03 -7.79363393e+00] [ 2.33851926e-02 -1.32259399e-03 9.99725654e-01 -2.17648118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12241403699998 meters 0.07971732562508684 Centerline is valid? [True, True] Translation: X:105.29, Y:-7.81, Z:-2.18 [[ 9.99373256e-01 2.69304531e-02 -2.29748984e-02 1.05294313e+02] [-2.68907802e-02 9.99636308e-01 2.03405126e-03 -7.80849664e+00] [ 2.30213205e-02 -1.41496349e-03 9.99733973e-01 -2.17953685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18241403699999 meters 0.08135408887839066 Centerline is valid? [True, True] Translation: X:105.35, Y:-7.82, Z:-2.18 [[ 9.99439409e-01 2.38879817e-02 -2.34570148e-02 1.05352486e+02] [-2.38458203e-02 9.99713494e-01 2.07550323e-03 -7.82094787e+00] [ 2.34998738e-02 -1.51498797e-03 9.99722692e-01 -2.18016923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24241403699999 meters 0.08072518248704613 Centerline is valid? [True, True] Translation: X:105.41, Y:-7.83, Z:-2.18 [[ 9.99436130e-01 2.48770843e-02 -2.25511033e-02 1.05411593e+02] [-2.48385395e-02 9.99689500e-01 1.98775952e-03 -7.82568467e+00] [ 2.25935508e-02 -1.42650221e-03 9.99743715e-01 -2.17948746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30241403699999 meters 0.07936959485628124 Centerline is valid? [True, True] Translation: X:105.47, Y:-7.83, Z:-2.18 [[ 9.99414056e-01 2.74413353e-02 -2.04576859e-02 1.05472084e+02] [-2.74101047e-02 9.99622642e-01 1.80549124e-03 -7.82880521e+00] [ 2.04995111e-02 -1.24368601e-03 9.99789089e-01 -2.17817687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362414037 meters 0.07947223683543528 Centerline is valid? [True, True] Translation: X:105.53, Y:-7.83, Z:-2.18 [[ 9.99271714e-01 3.10817899e-02 -2.21351114e-02 1.05530468e+02] [-3.10461383e-02 9.99516045e-01 1.95255015e-03 -7.83419860e+00] [ 2.21850878e-02 -1.26391840e-03 9.99753082e-01 -2.18160306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422414037 meters 0.07916840710197981 Centerline is valid? [True, True] Translation: X:105.59, Y:-7.84, Z:-2.18 [[ 9.99244721e-01 3.31844531e-02 -2.02183140e-02 1.05590121e+02] [-3.31551418e-02 9.99448626e-01 1.78331812e-03 -7.83833885e+00] [ 2.02663446e-02 -1.11163015e-03 9.99793999e-01 -2.17965810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48241403699998 meters 0.07884622886818943 Centerline is valid? [True, True] Translation: X:105.65, Y:-7.84, Z:-2.18 [[ 9.99419456e-01 2.76313964e-02 -1.99313026e-02 1.05650747e+02] [-2.76018063e-02 9.99617451e-01 1.75823182e-03 -7.84246289e+00] [ 1.99722603e-02 -1.20707114e-03 9.99799806e-01 -2.17763329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54241403699999 meters 0.08241125732878679 Centerline is valid? [True, True] Translation: X:105.71, Y:-7.86, Z:-2.18 [[ 9.99591844e-01 2.04261627e-02 -1.99728973e-02 1.05708464e+02] [-2.03950384e-02 9.99790449e-01 1.76080675e-03 -7.85948339e+00] [ 2.00046785e-02 -1.35274006e-03 9.99798971e-01 -2.18314197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60241403699999 meters 0.08242776290321559 Centerline is valid? [True, True] Translation: X:105.77, Y:-7.86, Z:-2.18 [[ 9.99628376e-01 1.82407840e-02 -2.02579245e-02 1.05767368e+02] [-1.82083438e-02 9.99832622e-01 1.78467074e-03 -7.86447323e+00] [ 2.02870876e-02 -1.41514426e-03 9.99793194e-01 -2.18294347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66241403699999 meters 0.08536486554351465 Centerline is valid? [True, True] Translation: X:105.83, Y:-7.87, Z:-2.18 [[ 9.99757153e-01 1.20391412e-02 -1.84579256e-02 1.05826177e+02] [-1.20111570e-02 9.99926541e-01 1.62622228e-03 -7.87352606e+00] [ 1.84761480e-02 -1.40412631e-03 9.99828315e-01 -2.18414640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722414037 meters 0.08710973878168127 Centerline is valid? [True, True] Translation: X:105.89, Y:-7.88, Z:-2.18 [[ 9.99814324e-01 6.34026824e-03 -1.81966591e-02 1.05886069e+02] [-6.31213865e-03 9.99978794e-01 1.60288457e-03 -7.88121551e+00] [ 1.82064360e-02 -1.48772711e-03 9.99833142e-01 -2.18461381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782414037 meters 0.0872783617116951 Centerline is valid? [True, True] Translation: X:105.95, Y:-7.88, Z:-2.18 [[ 9.99868104e-01 3.28991723e-03 -1.59044473e-02 1.05946933e+02] [-3.26804268e-03 9.99993678e-01 1.40116771e-03 -7.88187588e+00] [ 1.59089565e-02 -1.34900649e-03 9.99872535e-01 -2.18280917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84241403699998 meters 0.09053546580166795 Centerline is valid? [True, True] Translation: X:106.00, Y:-7.89, Z:-2.18 [[ 9.99861584e-01 3.83849343e-03 -1.61888557e-02 1.06004051e+02] [-3.81594155e-03 9.99991706e-01 1.42370990e-03 -7.88755779e+00] [ 1.61941863e-02 -1.36173710e-03 9.99867938e-01 -2.18452217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90241403699999 meters 0.08613310192995448 Centerline is valid? [True, True] Translation: X:106.07, Y:-7.88, Z:-2.18 [[ 9.99837065e-01 6.26338869e-03 -1.69296892e-02 1.06065041e+02] [-6.23906787e-03 9.99979428e-01 1.48901353e-03 -7.87545430e+00] [ 1.69386672e-02 -1.38314544e-03 9.99855574e-01 -2.18316086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96241403699999 meters 0.08706246591862898 Centerline is valid? [True, True] Translation: X:106.12, Y:-7.88, Z:-2.19 [[ 9.99810936e-01 5.14518461e-03 -1.87514970e-02 1.06124073e+02] [-5.11517286e-03 9.99985559e-01 1.64811096e-03 -7.87772187e+00] [ 1.87597061e-02 -1.55188222e-03 9.99822817e-01 -2.18721976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02241403699999 meters 0.0877968605216901 Centerline is valid? [True, True] Translation: X:106.18, Y:-7.88, Z:-2.19 [[ 9.99845470e-01 3.05637202e-03 -1.73117055e-02 1.06183880e+02] [-3.03050968e-03 9.99994253e-01 1.51995934e-03 -7.87522110e+00] [ 1.73162516e-02 -1.46726117e-03 9.99848986e-01 -2.18718772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08241403699999 meters 0.0930710302994062 Centerline is valid? [True, True] Translation: X:106.24, Y:-7.88, Z:-2.19 [[ 9.99917765e-01 1.09875285e-03 -1.27771287e-02 1.06241621e+02] [-1.08452582e-03 9.99998784e-01 1.12035208e-03 -7.88233101e+00] [ 1.27783442e-02 -1.10640282e-03 9.99917742e-01 -2.18783021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142414037 meters 0.08947559946376468 Centerline is valid? [True, True] Translation: X:106.30, Y:-7.87, Z:-2.18 [[ 9.99945184e-01 -9.40152745e-04 -1.04281097e-02 1.06301962e+02] [ 9.49736104e-04 9.99999131e-01 9.14078898e-04 -7.87353973e+00] [ 1.04272413e-02 -9.23932744e-04 9.99945208e-01 -2.18485010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202414037 meters 0.09248631822851908 Centerline is valid? [True, True] Translation: X:106.36, Y:-7.88, Z:-2.19 [[ 9.99933129e-01 -3.66833237e-03 -1.09672563e-02 1.06361983e+02] [ 3.67910242e-03 9.99992769e-01 9.62004504e-04 -7.87622992e+00] [ 1.09636480e-02 -1.00228983e-03 9.99939395e-01 -2.18909184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26241403699999 meters 0.09358591914431792 Centerline is valid? [True, True] Translation: X:106.42, Y:-7.88, Z:-2.19 [[ 9.99890767e-01 -4.45598230e-03 -1.40925082e-02 1.06421217e+02] [ 4.47382432e-03 9.99989230e-01 1.23479226e-03 -7.87535730e+00] [ 1.40868542e-02 -1.29770479e-03 9.99899933e-01 -2.19320623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32241403699999 meters 0.09569447925175442 Centerline is valid? [True, True] Translation: X:106.48, Y:-7.88, Z:-2.20 [[ 9.99933520e-01 -3.53084311e-03 -1.09767484e-02 1.06479804e+02] [ 3.54161136e-03 9.99993266e-01 9.61722270e-04 -7.87582408e+00] [ 1.09732788e-02 -1.00053371e-03 9.99939291e-01 -2.19558388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38241403699999 meters 0.08933786943610807 Centerline is valid? [True, True] Translation: X:106.54, Y:-7.86, Z:-2.19 [[ 9.99960070e-01 -1.55360265e-03 -8.80025665e-03 1.06541768e+02] [ 1.56044892e-03 9.99998485e-01 7.71149289e-04 -7.86334969e+00] [ 8.79904526e-03 -7.84850848e-04 9.99960980e-01 -2.19056698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44241403699999 meters 0.09035138242892217 Centerline is valid? [True, True] Translation: X:106.60, Y:-7.86, Z:-2.20 [[ 9.99940842e-01 -4.00552986e-04 -1.08697957e-02 1.06600638e+02] [ 4.10867442e-04 9.99999467e-01 9.46693281e-04 -7.86383301e+00] [ 1.08694108e-02 -9.51103322e-04 9.99940474e-01 -2.19645670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502414037 meters 0.09309243500510278 Centerline is valid? [True, True] Translation: X:106.66, Y:-7.87, Z:-2.20 [[ 9.99952265e-01 -9.85443846e-04 -9.72091746e-03 1.06658380e+02] [ 9.93729578e-04 9.99999147e-01 8.47567929e-04 -7.86987850e+00] [ 9.72007394e-03 -8.57187434e-04 9.99952392e-01 -2.19784094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562414037 meters 0.0930567938849202 Centerline is valid? [True, True] Translation: X:106.72, Y:-7.87, Z:-2.20 [[ 9.99968383e-01 -1.36801600e-03 -7.83333186e-03 1.06717181e+02] [ 1.37337538e-03 9.99998827e-01 6.78837934e-04 -7.87079842e+00] [ 7.83239400e-03 -6.89574577e-04 9.99969089e-01 -2.19528334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62241403699998 meters 0.09484638192657231 Centerline is valid? [True, True] Translation: X:106.78, Y:-7.87, Z:-2.20 [[ 9.99961057e-01 -1.94222520e-03 -8.60879709e-03 1.06776010e+02] [ 1.94873706e-03 9.99997821e-01 7.48095172e-04 -7.87329635e+00] [ 8.60732537e-03 -7.64842321e-04 9.99962664e-01 -2.19846412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68241403699999 meters 0.09133114302073299 Centerline is valid? [True, True] Translation: X:106.84, Y:-7.87, Z:-2.20 [[ 9.99949391e-01 -5.28620014e-04 -1.00467028e-02 1.06835576e+02] [ 5.37412213e-04 9.99999475e-01 8.72453300e-04 -7.86752161e+00] [ 1.00462363e-02 -8.77808367e-04 9.99949150e-01 -2.20068737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74241403699999 meters 0.08938723749710789 Centerline is valid? [True, True] Translation: X:106.90, Y:-7.86, Z:-2.20 [[ 9.99973284e-01 1.17103467e-03 -7.21532213e-03 1.06895800e+02] [-1.16654160e-03 9.99999123e-01 6.26890372e-04 -7.86488309e+00] [ 7.21604992e-03 -6.18456650e-04 9.99973773e-01 -2.20092305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80241403699999 meters 0.08959333976936473 Centerline is valid? [True, True] Translation: X:106.96, Y:-7.87, Z:-2.20 [[ 9.99989311e-01 3.55952039e-03 -2.95091495e-03 1.06955005e+02] [-3.55877991e-03 9.99993635e-01 2.56143054e-04 -7.86632889e+00] [ 2.95180791e-03 -2.45638659e-04 9.99995613e-01 -2.19680620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862414037 meters 0.08854711119257011 Centerline is valid? [True, True] Translation: X:107.02, Y:-7.86, Z:-2.20 [[ 9.99968038e-01 7.38248617e-03 -3.06952707e-03 1.07016220e+02] [-7.38170212e-03 9.99972719e-01 2.66681925e-04 -7.86322041e+00] [ 3.07141210e-03 -2.44015067e-04 9.99995253e-01 -2.19722595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922414037 meters 0.08986977096347597 Centerline is valid? [True, True] Translation: X:107.07, Y:-7.87, Z:-2.21 [[ 9.99938291e-01 8.55266201e-03 -7.08980241e-03 1.07074982e+02] [-8.54851763e-03 9.99963272e-01 6.14653722e-04 -7.86772269e+00] [ 7.09479894e-03 -5.54008492e-04 9.99974678e-01 -2.20527599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98241403699998 meters 0.09008598691211492 Centerline is valid? [True, True] Translation: X:107.13, Y:-7.87, Z:-2.21 [[ 9.99942171e-01 8.24362725e-03 -6.90628928e-03 1.07133785e+02] [-8.23969083e-03 9.99965874e-01 5.98236943e-04 -7.87111388e+00] [ 6.91098524e-03 -5.41296659e-04 9.99975972e-01 -2.20681943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04241403699999 meters 0.08457194466348647 Centerline is valid? [True, True] Translation: X:107.20, Y:-7.86, Z:-2.20 [[ 9.99944601e-01 1.02142863e-02 -2.54224079e-03 1.07195050e+02] [-1.02137589e-02 9.99947814e-01 2.20338712e-04 -7.86350434e+00] [ 2.54435872e-03 -1.94360671e-04 9.99996744e-01 -2.19846916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10241403699999 meters 0.08584126725319505 Centerline is valid? [True, True] Translation: X:107.25, Y:-7.87, Z:-2.20 [[ 9.99905804e-01 1.29481709e-02 -4.55274645e-03 1.07253366e+02] [-1.29465092e-02 9.99916113e-01 3.94274817e-04 -7.87141195e+00] [ 4.55746967e-03 -3.35295504e-04 9.99989558e-01 -2.20248511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16241403699999 meters 0.08469168591557175 Centerline is valid? [True, True] Translation: X:107.31, Y:-7.87, Z:-2.21 [[ 9.99849619e-01 1.53727260e-02 -8.02613352e-03 1.07312288e+02] [-1.53676445e-02 9.99881670e-01 6.94418561e-04 -7.87252312e+00] [ 8.03585889e-03 -5.70971367e-04 9.99967549e-01 -2.20652058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222414037 meters 0.08482164341854843 Centerline is valid? [True, True] Translation: X:107.37, Y:-7.88, Z:-2.21 [[ 9.99809627e-01 1.70491040e-02 -9.48879275e-03 1.07369938e+02] [-1.70420922e-02 9.99854437e-01 8.19331308e-04 -7.87708524e+00] [ 9.50138040e-03 -6.57466448e-04 9.99954645e-01 -2.20862193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282414037 meters 0.08405270945573802 Centerline is valid? [True, True] Translation: X:107.43, Y:-7.88, Z:-2.21 [[ 9.99806128e-01 1.79677861e-02 -8.05385425e-03 1.07428747e+02] [-1.79627654e-02 9.99838415e-01 6.95306496e-04 -7.88077815e+00] [ 8.06504598e-03 -5.50502202e-04 9.99967325e-01 -2.20913004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34241403699998 meters 0.0822890852887809 Centerline is valid? [True, True] Translation: X:107.49, Y:-7.88, Z:-2.21 [[ 9.99753208e-01 2.12579548e-02 -6.45159820e-03 1.07488961e+02] [-2.12547968e-02 9.99773936e-01 5.57666892e-04 -7.88111331e+00] [ 6.46199458e-03 -4.20401855e-04 9.99979033e-01 -2.20960002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40241403699999 meters 0.08261041360815505 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.89, Z:-2.21 [[ 9.99747331e-01 2.22426807e-02 -3.24607493e-03 1.07547227e+02] [-2.22418892e-02 9.99752579e-01 2.79750677e-04 -7.88651275e+00] [ 3.25149419e-03 -2.07481153e-04 9.99994692e-01 -2.20755783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46241403699999 meters 0.08418689062795749 Centerline is valid? [True, True] Translation: X:107.61, Y:-7.90, Z:-2.21 [[ 9.99783778e-01 2.03567911e-02 -4.24241412e-03 1.07605882e+02] [-2.03554221e-02 9.99792740e-01 3.65624333e-04 -7.89706162e+00] [ 4.24897777e-03 -2.79189147e-04 9.99990934e-01 -2.21050625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52241403699999 meters 0.08324617963796056 Centerline is valid? [True, True] Translation: X:107.66, Y:-7.90, Z:-2.21 [[ 9.99812242e-01 1.87782744e-02 -4.78083877e-03 1.07664826e+02] [-1.87765188e-02 9.99823621e-01 4.11841287e-04 -7.90059588e+00] [ 4.78772920e-03 -3.21996452e-04 9.99988487e-01 -2.21058734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58241403699999 meters 0.08520190201516492 Centerline is valid? [True, True] Translation: X:107.72, Y:-7.91, Z:-2.21 [[ 9.99815950e-01 1.78638522e-02 -6.99634664e-03 1.07722439e+02] [-1.78600727e-02 9.99840315e-01 6.02325243e-04 -7.90883496e+00] [ 7.00598928e-03 -4.77259125e-04 9.99975344e-01 -2.21436966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642414037 meters 0.08514532069350625 Centerline is valid? [True, True] Translation: X:107.78, Y:-7.91, Z:-2.22 [[ 9.99814472e-01 1.80625483e-02 -6.69069880e-03 1.07780940e+02] [-1.80590995e-02 9.99836756e-01 5.75525149e-04 -7.91470134e+00] [ 6.70000204e-03 -4.54590378e-04 9.99977451e-01 -2.21576485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702414037 meters 0.08632458901723418 Centerline is valid? [True, True] Translation: X:107.84, Y:-7.92, Z:-2.22 [[ 9.99813364e-01 1.83664637e-02 -5.99255462e-03 1.07839448e+02] [-1.83637053e-02 9.99831240e-01 5.15001481e-04 -7.92221036e+00] [ 6.00100207e-03 -4.04859856e-04 9.99981912e-01 -2.21689294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76241403699999 meters 0.08724844480351514 Centerline is valid? [True, True] Translation: X:107.90, Y:-7.93, Z:-2.22 [[ 9.99870443e-01 1.48907035e-02 -6.11268451e-03 1.07899326e+02] [-1.48877639e-02 9.99889033e-01 5.26122241e-04 -7.93099611e+00] [ 6.11984053e-03 -4.35049874e-04 9.99981179e-01 -2.21822097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82241403699999 meters 0.08688867468533552 Centerline is valid? [True, True] Translation: X:107.96, Y:-7.94, Z:-2.22 [[ 9.99901276e-01 1.15417459e-02 -8.01415163e-03 1.07959104e+02] [-1.15365853e-02 9.99933213e-01 6.89862642e-04 -7.93695635e+00] [ 8.02157861e-03 -5.97338592e-04 9.99967648e-01 -2.22000469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88241403699999 meters 0.09006787188027135 Centerline is valid? [True, True] Translation: X:108.02, Y:-7.95, Z:-2.22 [[ 9.99942977e-01 7.23719400e-03 -7.85277358e-03 1.08017351e+02] [-7.23210162e-03 9.99973619e-01 6.76684260e-04 -7.94955558e+00] [ 7.85746371e-03 -6.19853617e-04 9.99968938e-01 -2.22249108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94241403699999 meters 0.09130030143481313 Centerline is valid? [True, True] Translation: X:108.08, Y:-7.96, Z:-2.22 [[ 9.99976241e-01 4.81357635e-03 -4.93427778e-03 1.08076095e+02] [-4.81154251e-03 9.99988335e-01 4.23974637e-04 -7.95834319e+00] [ 4.93626106e-03 -4.00223076e-04 9.99987736e-01 -2.22072408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002414037 meters 0.09239071620042545 Centerline is valid? [True, True] Translation: X:108.13, Y:-7.97, Z:-2.22 [[ 9.99985378e-01 4.49758411e-03 -3.00262878e-03 1.08134355e+02] [-4.49683164e-03 9.99989856e-01 2.57308510e-04 -7.96640840e+00] [ 3.00375559e-03 -2.43802432e-04 9.99995459e-01 -2.22016027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062414037 meters 0.09106906986199748 Centerline is valid? [True, True] Translation: X:108.19, Y:-7.97, Z:-2.22 [[ 9.99971613e-01 4.05643933e-03 -6.34967690e-03 1.08194266e+02] [-4.05305754e-03 9.99991638e-01 5.45370630e-04 -7.96893606e+00] [ 6.35183606e-03 -5.19619543e-04 9.99979692e-01 -2.22361699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12241403699998 meters 0.0893290325444859 Centerline is valid? [True, True] Translation: X:108.25, Y:-7.97, Z:-2.23 [[ 9.99954809e-01 6.29128479e-03 -7.12738641e-03 1.08254646e+02] [-6.28707907e-03 9.99980049e-01 6.12330996e-04 -7.96965418e+00] [ 7.13109656e-03 -5.67492882e-04 9.99974412e-01 -2.22522487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18241403699999 meters 0.08403997225093239 Centerline is valid? [True, True] Translation: X:108.32, Y:-7.96, Z:-2.22 [[ 9.99876897e-01 1.43796151e-02 -6.27834366e-03 1.08315792e+02] [-1.43765088e-02 9.99896507e-01 5.39614207e-04 -7.96226603e+00] [ 6.28545334e-03 -4.49287116e-04 9.99980145e-01 -2.22300996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24241403699999 meters 0.08156680022290107 Centerline is valid? [True, True] Translation: X:108.38, Y:-7.96, Z:-2.22 [[ 9.99735793e-01 2.23619951e-02 -5.31835888e-03 1.08377099e+02] [-2.23598799e-02 9.99749882e-01 4.56850862e-04 -7.96044736e+00] [ 5.32724476e-03 -3.37812293e-04 9.99985753e-01 -2.22196425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30241403699999 meters 0.07957005246550852 Centerline is valid? [True, True] Translation: X:108.44, Y:-7.96, Z:-2.23 [[ 9.99531846e-01 2.93984312e-02 -8.47472808e-03 1.08437036e+02] [-2.93933148e-02 9.99567658e-01 7.27670306e-04 -7.96022140e+00] [ 8.49245647e-03 -4.78229294e-04 9.99963824e-01 -2.22538607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362414037 meters 0.0780527563132622 Centerline is valid? [True, True] Translation: X:108.50, Y:-7.96, Z:-2.23 [[ 9.99357970e-01 3.41025746e-02 -1.09846509e-02 1.08497559e+02] [-3.40942665e-02 9.99418177e-01 9.42765524e-04 -7.96101329e+00] [ 1.10104105e-02 -5.67646624e-04 9.99939222e-01 -2.22794220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422414037 meters 0.07721879136326432 Centerline is valid? [True, True] Translation: X:108.56, Y:-7.97, Z:-2.23 [[ 9.99284864e-01 3.63621735e-02 -1.03707353e-02 1.08557511e+02] [-3.63548891e-02 9.99338546e-01 8.90121807e-04 -7.96502955e+00] [ 1.03962423e-02 -5.12458316e-04 9.99945826e-01 -2.22740308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48241403699998 meters 0.07774427522086653 Centerline is valid? [True, True] Translation: X:108.62, Y:-7.98, Z:-2.23 [[ 9.99251165e-01 3.82052000e-02 -6.12145551e-03 1.08616259e+02] [-3.82026999e-02 9.99269873e-01 5.24871348e-04 -7.97511434e+00] [ 6.13703888e-03 -2.90622178e-04 9.99981126e-01 -2.22585186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54241403699999 meters 0.07679896197702123 Centerline is valid? [True, True] Translation: X:108.67, Y:-7.98, Z:-2.22 [[ 9.99299882e-01 3.72449105e-02 -3.54449360e-03 1.08674555e+02] [-3.72440798e-02 9.99306154e-01 3.00112125e-04 -7.98117395e+00] [ 3.55321191e-03 -1.67890608e-04 9.99993673e-01 -2.22113686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60241403699999 meters 0.07770083089831807 Centerline is valid? [True, True] Translation: X:108.73, Y:-7.99, Z:-2.23 [[ 9.99373866e-01 3.42763080e-02 -8.77554053e-03 1.08733826e+02] [-3.42710327e-02 9.99412294e-01 7.50854946e-04 -7.99221947e+00] [ 8.79611962e-03 -4.49637973e-04 9.99961212e-01 -2.22524766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66241403699999 meters 0.07983345272545248 Centerline is valid? [True, True] Translation: X:108.79, Y:-8.01, Z:-2.23 [[ 9.99406633e-01 3.30024027e-02 -9.86014564e-03 1.08791259e+02] [-3.29956956e-02 9.99455139e-01 8.42176810e-04 -8.00663751e+00] [ 9.88256708e-03 -5.16334727e-04 9.99951033e-01 -2.22863452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722414037 meters 0.07910882708561857 Centerline is valid? [True, True] Translation: X:108.85, Y:-8.01, Z:-2.23 [[ 9.99366056e-01 3.43037965e-02 -9.52554917e-03 1.08849408e+02] [-3.42976017e-02 9.99411334e-01 8.12984320e-04 -8.01381257e+00] [ 9.54783025e-03 -4.85765442e-04 9.99954300e-01 -2.22962141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782414037 meters 0.07802666500981165 Centerline is valid? [True, True] Translation: X:108.91, Y:-8.02, Z:-2.23 [[ 9.99245953e-01 3.78448913e-02 -8.67692009e-03 1.08909696e+02] [-3.78398804e-02 9.99283541e-01 7.41001199e-04 -8.01864364e+00] [ 8.69874654e-03 -4.12108831e-04 9.99962080e-01 -2.22889766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84241403699998 meters 0.07701486512604695 Centerline is valid? [True, True] Translation: X:108.97, Y:-8.02, Z:-2.23 [[ 9.99214846e-01 3.82533013e-02 -1.03138770e-02 1.08967597e+02] [-3.82463057e-02 9.99267960e-01 8.74726631e-04 -8.02187118e+00] [ 1.03397880e-02 -4.79572143e-04 9.99946428e-01 -2.22963604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90241403699999 meters 0.07696979687000702 Centerline is valid? [True, True] Translation: X:109.03, Y:-8.03, Z:-2.23 [[ 9.99360288e-01 3.47683395e-02 -8.37717066e-03 1.09026920e+02] [-3.47635842e-02 9.99395310e-01 7.12640661e-04 -8.03111996e+00] [ 8.39688240e-03 -4.20964299e-04 9.99964657e-01 -2.22732145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96241403699999 meters 0.07934558097415784 Centerline is valid? [True, True] Translation: X:109.09, Y:-8.05, Z:-2.23 [[ 9.99435847e-01 3.22051573e-02 -9.52968994e-03 1.09085138e+02] [-3.21988860e-02 9.99481153e-01 8.10824443e-04 -8.04648957e+00] [ 9.55085821e-03 -5.03521614e-04 9.99954263e-01 -2.23063801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02241403699999 meters 0.07789982832682354 Centerline is valid? [True, True] Translation: X:109.14, Y:-8.05, Z:-2.23 [[ 9.99449560e-01 3.13116968e-02 -1.09615378e-02 1.09143699e+02] [-3.13034067e-02 9.99509498e-01 9.27089782e-04 -8.04889009e+00] [ 1.09851899e-02 -5.83445999e-04 9.99939491e-01 -2.22907835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08241403699999 meters 0.07751433478534521 Centerline is valid? [True, True] Translation: X:109.20, Y:-8.06, Z:-2.23 [[ 9.99443852e-01 3.17834387e-02 -1.00895573e-02 1.09202567e+02] [-3.17764253e-02 9.99494636e-01 8.54699040e-04 -8.05508199e+00] [ 1.01116237e-02 -5.33613637e-04 9.99948734e-01 -2.22790271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142414037 meters 0.07773776444608366 Centerline is valid? [True, True] Translation: X:109.26, Y:-8.07, Z:-2.23 [[ 9.99470577e-01 3.14059345e-02 -8.49898954e-03 1.09260314e+02] [-3.14009505e-02 9.99506610e-01 7.19252324e-04 -8.06529469e+00] [ 8.51738501e-03 -4.51995186e-04 9.99963624e-01 -2.22935526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20241403699998 meters 0.07764873670113068 Centerline is valid? [True, True] Translation: X:109.32, Y:-8.07, Z:-2.23 [[ 9.99331314e-01 3.45292887e-02 -1.20271656e-02 1.09318786e+02] [-3.45195380e-02 9.99403505e-01 1.01743393e-03 -8.06984533e+00] [ 1.20551227e-02 -6.01581387e-04 9.99927153e-01 -2.23391726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26241403699999 meters 0.0764895963405253 Centerline is valid? [True, True] Translation: X:109.38, Y:-8.07, Z:-2.23 [[ 9.99193089e-01 3.79044171e-02 -1.32825580e-02 1.09378184e+02] [-3.78928208e-02 9.99281177e-01 1.12372107e-03 -8.07202972e+00] [ 1.33156041e-02 -6.19500735e-04 9.99911152e-01 -2.23471723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32241403699999 meters 0.07502404875984797 Centerline is valid? [True, True] Translation: X:109.44, Y:-8.08, Z:-2.24 [[ 9.98899664e-01 4.49535474e-02 -1.33656509e-02 1.09438371e+02] [-4.49424311e-02 9.98988938e-01 1.13105743e-03 -8.07512741e+00] [ 1.34029824e-02 -5.29128048e-04 9.99910036e-01 -2.23685032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38241403699999 meters 0.07437024447488588 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.08, Z:-2.23 [[ 9.98829593e-01 4.68057788e-02 -1.21927721e-02 1.09497356e+02] [-4.67966864e-02 9.98903904e-01 1.03011432e-03 -8.07836435e+00] [ 1.22276230e-02 -4.58327330e-04 9.99925135e-01 -2.23404034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44241403699999 meters 0.07456170931949874 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.09, Z:-2.23 [[ 9.98806467e-01 4.76076766e-02 -1.09155848e-02 1.09555122e+02] [-4.76004902e-02 9.98866033e-01 9.17361709e-04 -8.08574113e+00] [ 1.09468803e-02 -3.96679621e-04 9.99940002e-01 -2.23438880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502414037 meters 0.07566205612073673 Centerline is valid? [True, True] Translation: X:109.61, Y:-8.10, Z:-2.24 [[ 9.98935216e-01 4.47892475e-02 -1.10615564e-02 1.09612699e+02] [-4.47816733e-02 9.98996363e-01 9.31600476e-04 -8.09834648e+00] [ 1.10921803e-02 -4.35253519e-04 9.99938385e-01 -2.23588743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562414037 meters 0.07595189527282219 Centerline is valid? [True, True] Translation: X:109.67, Y:-8.11, Z:-2.24 [[ 9.99155352e-01 3.85747104e-02 -1.41623915e-02 1.09672427e+02] [-3.85616582e-02 9.99255510e-01 1.19363375e-03 -8.10965591e+00] [ 1.41978918e-02 -6.46500253e-04 9.99898996e-01 -2.23767761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62241403699998 meters 0.07739052959030891 Centerline is valid? [True, True] Translation: X:109.73, Y:-8.12, Z:-2.24 [[ 9.99274792e-01 3.45846814e-02 -1.59307626e-02 1.09731228e+02] [-3.45676613e-02 9.99401458e-01 1.34258371e-03 -8.12083326e+00] [ 1.59676602e-02 -7.90920848e-04 9.99872196e-01 -2.24052394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68241403699999 meters 0.07868470484275121 Centerline is valid? [True, True] Translation: X:109.79, Y:-8.13, Z:-2.24 [[ 9.99436588e-01 3.02379260e-02 -1.45661880e-02 1.09790820e+02] [-3.02232430e-02 9.99542420e-01 1.22714308e-03 -8.13144953e+00] [ 1.45966291e-02 -7.86214252e-04 9.99893154e-01 -2.24073754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74241403699999 meters 0.08011839604507247 Centerline is valid? [True, True] Translation: X:109.85, Y:-8.14, Z:-2.24 [[ 9.99603419e-01 2.59416535e-02 -1.09560479e-02 1.09849600e+02] [-2.59330970e-02 9.99663255e-01 9.22359174e-04 -8.14480826e+00] [ 1.09762861e-02 -6.37869130e-04 9.99939555e-01 -2.24037237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80241403699999 meters 0.08211851139082894 Centerline is valid? [True, True] Translation: X:109.91, Y:-8.16, Z:-2.24 [[ 9.99718911e-01 2.19639453e-02 -8.92657965e-03 1.09908301e+02] [-2.19581073e-02 9.99758609e-01 7.51502627e-04 -8.15715704e+00] [ 8.94093081e-03 -5.55280594e-04 9.99959875e-01 -2.24079584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862414037 meters 0.08180394150346013 Centerline is valid? [True, True] Translation: X:109.97, Y:-8.16, Z:-2.24 [[ 9.99788070e-01 1.73462926e-02 -1.10870094e-02 1.09968377e+02] [-1.73370050e-02 9.99849267e-01 9.33268739e-04 -8.16008268e+00] [ 1.11015270e-02 -7.40855413e-04 9.99938102e-01 -2.24005569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922414037 meters 0.0820203166558563 Centerline is valid? [True, True] Translation: X:110.03, Y:-8.17, Z:-2.24 [[ 9.99773179e-01 1.69059948e-02 -1.29529061e-02 1.10026949e+02] [-1.68933010e-02 9.99856705e-01 1.08878861e-03 -8.16530105e+00] [ 1.29694570e-02 -8.69724313e-04 9.99915515e-01 -2.24331860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98241403699998 meters 0.08052693969682784 Centerline is valid? [True, True] Translation: X:110.09, Y:-8.17, Z:-2.24 [[ 9.99739076e-01 1.91296138e-02 -1.24835304e-02 1.10087498e+02] [-1.91179988e-02 9.99816684e-01 1.04910960e-03 -8.16590051e+00] [ 1.25013111e-02 -8.10175745e-04 9.99921527e-01 -2.24275930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04241403699999 meters 0.07997763279437108 Centerline is valid? [True, True] Translation: X:110.15, Y:-8.17, Z:-2.24 [[ 9.99669984e-01 2.09252784e-02 -1.49015353e-02 1.10146231e+02] [-2.09089450e-02 9.99780601e-01 1.25105586e-03 -8.16751681e+00] [ 1.49244446e-02 -9.39067606e-04 9.99888183e-01 -2.24452586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10241403699999 meters 0.08058862292720695 Centerline is valid? [True, True] Translation: X:110.20, Y:-8.17, Z:-2.25 [[ 9.99688166e-01 2.17496978e-02 -1.22686817e-02 1.10204938e+02] [-2.17386897e-02 9.99763156e-01 1.02990945e-03 -8.17476083e+00] [ 1.22881762e-02 -7.62883227e-04 9.99924206e-01 -2.24517223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16241403699999 meters 0.0815206628572927 Centerline is valid? [True, True] Translation: X:110.26, Y:-8.18, Z:-2.25 [[ 9.99683400e-01 2.33172658e-02 -9.45543229e-03 1.10263128e+02] [-2.33108049e-02 9.99727952e-01 7.92956739e-04 -8.18272745e+00] [ 9.47134954e-03 -5.72291952e-04 9.99954982e-01 -2.24657570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222414037 meters 0.08004691330284293 Centerline is valid? [True, True] Translation: X:110.32, Y:-8.18, Z:-2.25 [[ 9.99576769e-01 2.73755711e-02 -9.84175401e-03 1.10323971e+02] [-2.73687614e-02 9.99625064e-01 8.25967146e-04 -8.18109106e+00] [ 9.86067531e-03 -5.56260955e-04 9.99951228e-01 -2.24623901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282414037 meters 0.07815287256521598 Centerline is valid? [True, True] Translation: X:110.38, Y:-8.18, Z:-2.25 [[ 9.99450389e-01 3.08218154e-02 -1.22039023e-02 1.10383970e+02] [-3.08116101e-02 9.99524686e-01 1.02341115e-03 -8.18094075e+00] [ 1.22296450e-02 -6.46826791e-04 9.99925006e-01 -2.24775779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34241403699998 meters 0.0761235744033644 Centerline is valid? [True, True] Translation: X:110.44, Y:-8.18, Z:-2.24 [[ 9.99334478e-01 3.53116130e-02 -9.14827173e-03 1.10444860e+02] [-3.53060639e-02 9.99376252e-01 7.67413481e-04 -8.17928928e+00] [ 9.16966412e-03 -4.43913285e-04 9.99957859e-01 -2.24413516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40241403699999 meters 0.07561798301158455 Centerline is valid? [True, True] Translation: X:110.50, Y:-8.18, Z:-2.25 [[ 9.99148406e-01 3.98964932e-02 -1.05229568e-02 1.10503466e+02] [-3.98894168e-02 9.99203712e-01 8.81580977e-04 -8.18196996e+00] [ 1.05497495e-02 -4.61075619e-04 9.99944244e-01 -2.24607220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46241403699999 meters 0.0755585604257431 Centerline is valid? [True, True] Translation: X:110.56, Y:-8.19, Z:-2.25 [[ 9.99065987e-01 4.14500959e-02 -1.22083235e-02 1.10561605e+02] [-4.14407516e-02 9.99140445e-01 1.01749214e-03 -8.18769258e+00] [ 1.22400050e-02 -5.10619688e-04 9.99924958e-01 -2.24781751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52241403699999 meters 0.0745102430613082 Centerline is valid? [True, True] Translation: X:110.62, Y:-8.19, Z:-2.25 [[ 9.98901103e-01 4.54365085e-02 -1.14939138e-02 1.10621651e+02] [-4.54284596e-02 9.98967133e-01 9.60532082e-04 -8.19035515e+00] [ 1.15256854e-02 -4.37325755e-04 9.99933481e-01 -2.24728974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58241403699999 meters 0.07581333539617652 Centerline is valid? [True, True] Translation: X:110.68, Y:-8.20, Z:-2.25 [[ 9.98912851e-01 4.50178651e-02 -1.21040060e-02 1.10679003e+02] [-4.50089316e-02 9.98986074e-01 1.00959844e-03 -8.20215625e+00] [ 1.21371834e-02 -4.63712477e-04 9.99926234e-01 -2.25106119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642414037 meters 0.0753469911770072 Centerline is valid? [True, True] Translation: X:110.74, Y:-8.21, Z:-2.25 [[ 9.99141491e-01 4.04392589e-02 -8.99707961e-03 1.10738240e+02] [-4.04341370e-02 9.99181924e-01 7.50525370e-04 -8.21279408e+00] [ 9.02007001e-03 -3.86091887e-04 9.99959244e-01 -2.24711610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70241403699998 meters 0.07670058927555219 Centerline is valid? [True, True] Translation: X:110.80, Y:-8.23, Z:-2.25 [[ 9.99418272e-01 3.33778653e-02 -7.00256962e-03 1.10797760e+02] [-3.33745877e-02 9.99442742e-01 5.84415596e-04 -8.22853267e+00] [ 7.01817393e-03 -3.50367751e-04 9.99975311e-01 -2.24677331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76241403699999 meters 0.07974204188467406 Centerline is valid? [True, True] Translation: X:110.86, Y:-8.24, Z:-2.25 [[ 9.99587013e-01 2.74941203e-02 -8.35922579e-03 1.10855864e+02] [-2.74892451e-02 9.99621856e-01 6.97575423e-04 -8.24470833e+00] [ 8.37524403e-03 -4.67498527e-04 9.99964818e-01 -2.25023787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82241403699999 meters 0.08013873274344814 Centerline is valid? [True, True] Translation: X:110.92, Y:-8.26, Z:-2.25 [[ 9.99732645e-01 2.01269617e-02 -1.13817505e-02 1.10915271e+02] [-2.01174475e-02 9.99797173e-01 9.49802935e-04 -8.25675534e+00] [ 1.13985586e-02 -7.20577233e-04 9.99934775e-01 -2.25298646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88241403699999 meters 0.08483359135961777 Centerline is valid? [True, True] Translation: X:110.97, Y:-8.27, Z:-2.26 [[ 9.99790556e-01 1.70531531e-02 -1.13151734e-02 1.10973356e+02] [-1.70435627e-02 9.99854303e-01 9.43465175e-04 -8.27415808e+00] [ 1.13296138e-02 -7.50416706e-04 9.99935536e-01 -2.25658052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94241403699999 meters 0.08350723534772851 Centerline is valid? [True, True] Translation: X:111.03, Y:-8.27, Z:-2.26 [[ 9.99838678e-01 1.20517477e-02 -1.33181957e-02 1.11034289e+02] [-1.20380116e-02 9.99926923e-01 1.11106428e-03 -8.27484823e+00] [ 1.33306127e-02 -9.50560444e-04 9.99910692e-01 -2.25528911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002414037 meters 0.08471312708314487 Centerline is valid? [True, True] Translation: X:111.09, Y:-8.28, Z:-2.26 [[ 9.99867774e-01 7.41713733e-03 -1.44713437e-02 1.11093664e+02] [-7.40044074e-03 9.99971888e-01 1.20697944e-03 -8.28430345e+00] [ 1.44798893e-02 -1.09972553e-03 9.99894556e-01 -2.25749743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062414037 meters 0.08602169478167392 Centerline is valid? [True, True] Translation: X:111.15, Y:-8.29, Z:-2.26 [[ 9.99923393e-01 2.47825130e-03 -1.21270803e-02 1.11153585e+02] [-2.46616919e-03 9.99996448e-01 1.01114468e-03 -8.28992064e+00] [ 1.21295431e-02 -9.81159783e-04 9.99925953e-01 -2.25572966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12241403699998 meters 0.08537187066126234 Centerline is valid? [True, True] Translation: X:111.21, Y:-8.29, Z:-2.25 [[ 9.99910981e-01 1.44651557e-03 -1.32641610e-02 1.11213723e+02] [-1.43198013e-03 9.99998364e-01 1.10527522e-03 -8.28974306e+00] [ 1.32657381e-02 -1.08618282e-03 9.99911416e-01 -2.25497366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18241403699999 meters 0.087200261069519 Centerline is valid? [True, True] Translation: X:111.27, Y:-8.30, Z:-2.26 [[ 9.99878979e-01 -2.32562250e-03 -1.53823953e-02 1.11274062e+02] [ 2.34562390e-03 9.99996427e-01 1.28236486e-03 -8.29594296e+00] [ 1.53793581e-02 -1.31829098e-03 9.99880862e-01 -2.26043617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24241403699999 meters 0.08753677077691303 Centerline is valid? [True, True] Translation: X:111.33, Y:-8.30, Z:-2.26 [[ 9.99879225e-01 -6.08902005e-03 -1.42989431e-02 1.11334213e+02] [ 6.10668431e-03 9.99980644e-01 1.19201683e-03 -8.29924016e+00] [ 1.42914081e-02 -1.27919199e-03 9.99897054e-01 -2.26029599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30241403699999 meters 0.09221293350923417 Centerline is valid? [True, True] Translation: X:111.39, Y:-8.31, Z:-2.26 [[ 9.99889629e-01 -1.09726332e-02 -1.00165504e-02 1.11392687e+02] [ 1.09815508e-02 9.99939352e-01 8.35720514e-04 -8.30914861e+00] [ 1.00067729e-02 -9.45625531e-04 9.99949484e-01 -2.25802686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362414037 meters 0.09127683584156304 Centerline is valid? [True, True] Translation: X:111.45, Y:-8.31, Z:-2.26 [[ 9.99878221e-01 -1.23064334e-02 -9.59665794e-03 1.11453273e+02] [ 1.23146762e-02 9.99923851e-01 8.00302188e-04 -8.31057804e+00] [ 9.58607830e-03 -9.18384463e-04 9.99953631e-01 -2.25792510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422414037 meters 0.09336127083221009 Centerline is valid? [True, True] Translation: X:111.51, Y:-8.31, Z:-2.26 [[ 9.99799660e-01 -1.50084100e-02 -1.32434030e-02 1.11513740e+02] [ 1.50243441e-02 9.99886518e-01 1.10449961e-03 -8.31366759e+00] [ 1.32253233e-02 -1.30325178e-03 9.99911692e-01 -2.26140793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48241403699998 meters 0.09588308278819978 Centerline is valid? [True, True] Translation: X:111.57, Y:-8.32, Z:-2.27 [[ 9.99776094e-01 -1.37872841e-02 -1.60521786e-02 1.11573083e+02] [ 1.38105433e-02 9.99903733e-01 1.33902125e-03 -8.31564206e+00] [ 1.60321719e-02 -1.56041074e-03 9.99870259e-01 -2.26512284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54241403699999 meters 0.09706294762060134 Centerline is valid? [True, True] Translation: X:111.63, Y:-8.32, Z:-2.27 [[ 9.99818980e-01 -1.21627168e-02 -1.46313261e-02 1.11632171e+02] [ 1.21818522e-02 9.99925055e-01 1.21941821e-03 -8.31665126e+00] [ 1.46153981e-02 -1.39743412e-03 9.99892213e-01 -2.26636612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60241403699999 meters 0.09210311471325236 Centerline is valid? [True, True] Translation: X:111.69, Y:-8.31, Z:-2.27 [[ 9.99849377e-01 -1.01837944e-02 -1.40539778e-02 1.11693515e+02] [ 1.02012549e-02 9.99947280e-01 1.17125847e-03 -8.30567241e+00] [ 1.40413090e-02 -1.31445026e-03 9.99900552e-01 -2.26585728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66241403699999 meters 0.093874509680521 Centerline is valid? [True, True] Translation: X:111.75, Y:-8.31, Z:-2.27 [[ 9.99860880e-01 -8.83342398e-03 -1.41488793e-02 1.11752242e+02] [ 8.85097027e-03 9.99960136e-01 1.17797963e-03 -8.30887081e+00] [ 1.41379097e-02 -1.30304706e-03 9.99899206e-01 -2.26924084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722414037 meters 0.09529464003769073 Centerline is valid? [True, True] Translation: X:111.81, Y:-8.31, Z:-2.27 [[ 9.99923670e-01 -6.94827443e-03 -1.02163984e-02 1.11811713e+02] [ 6.95732491e-03 9.99975436e-01 8.50603498e-04 -8.31061561e+00] [ 1.02102372e-02 -9.21617375e-04 9.99947449e-01 -2.26860156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782414037 meters 0.091467798313409 Centerline is valid? [True, True] Translation: X:111.87, Y:-8.30, Z:-2.26 [[ 9.99976482e-01 -4.15906145e-03 -5.45315215e-03 1.11872608e+02] [ 4.16159679e-03 9.99991238e-01 4.53665925e-04 -8.30057235e+00] [ 5.45121754e-03 -4.76349076e-04 9.99985029e-01 -2.26276437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84241403699998 meters 0.08915120418090412 Centerline is valid? [True, True] Translation: X:111.93, Y:-8.30, Z:-2.26 [[ 9.99972877e-01 -4.23934590e-03 -6.02278254e-03 1.11932382e+02] [ 4.24243826e-03 9.99990875e-01 5.00761285e-04 -8.29842229e+00] [ 6.02060468e-03 -5.26298986e-04 9.99981737e-01 -2.26421852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90241403699999 meters 0.09268743017004236 Centerline is valid? [True, True] Translation: X:111.99, Y:-8.31, Z:-2.27 [[ 9.99946482e-01 -5.47781198e-03 -8.77651284e-03 1.11991183e+02] [ 5.48442535e-03 9.99984694e-01 7.29640364e-04 -8.30558580e+00] [ 8.77238167e-03 -7.77735445e-04 9.99961219e-01 -2.26932633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96241403699999 meters 0.09581550300434293 Centerline is valid? [True, True] Translation: X:112.05, Y:-8.31, Z:-2.27 [[ 9.99951795e-01 -5.00953994e-03 -8.44461157e-03 1.12049154e+02] [ 5.01560625e-03 9.99987179e-01 6.97339452e-04 -8.31052989e+00] [ 8.44100995e-03 -7.39660683e-04 9.99964100e-01 -2.27267723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02241403699999 meters 0.08925924303877376 Centerline is valid? [True, True] Translation: X:112.11, Y:-8.30, Z:-2.27 [[ 9.99976070e-01 -3.07835539e-03 -6.19538528e-03 1.12110259e+02] [ 3.08159595e-03 9.99995120e-01 5.13581973e-04 -8.30234186e+00] [ 6.19377406e-03 -5.32661357e-04 9.99980677e-01 -2.27050599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08241403699999 meters 0.09209218139334202 Centerline is valid? [True, True] Translation: X:112.17, Y:-8.31, Z:-2.27 [[ 9.99973994e-01 5.71051089e-05 -7.21166397e-03 1.12168839e+02] [-5.27963965e-05 9.99999820e-01 5.97653348e-04 -8.30970193e+00] [ 7.21169681e-03 -5.97257056e-04 9.99973817e-01 -2.27469851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142414037 meters 0.09407385065222315 Centerline is valid? [True, True] Translation: X:112.23, Y:-8.31, Z:-2.28 [[ 9.99957810e-01 4.25209186e-03 -8.14237011e-03 1.12228329e+02] [-4.24673812e-03 9.99990755e-01 6.74693557e-04 -8.31084968e+00] [ 8.14516369e-03 -6.40086578e-04 9.99966623e-01 -2.27794329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20241403699998 meters 0.08787258271563088 Centerline is valid? [True, True] Translation: X:112.29, Y:-8.30, Z:-2.28 [[ 9.99944694e-01 6.31457472e-03 -8.41044895e-03 1.12289066e+02] [-6.30893916e-03 9.99979856e-01 6.96429078e-04 -8.29955165e+00] [ 8.41467718e-03 -6.43329550e-04 9.99964389e-01 -2.27715450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26241403699999 meters 0.0890155867651673 Centerline is valid? [True, True] Translation: X:112.35, Y:-8.30, Z:-2.28 [[ 9.99950234e-01 5.96615681e-03 -7.99595803e-03 1.12347852e+02] [-5.96106018e-03 9.99982014e-01 6.61081985e-04 -8.30373128e+00] [ 7.99975833e-03 -6.13384698e-04 9.99967813e-01 -2.27882817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32241403699999 meters 0.09061855101909543 Centerline is valid? [True, True] Translation: X:112.41, Y:-8.31, Z:-2.28 [[ 9.99944629e-01 7.23655008e-03 -7.64006037e-03 1.12405294e+02] [-7.23194398e-03 9.99973650e-01 6.30342155e-04 -8.30822008e+00] [ 7.64442056e-03 -5.75054763e-04 9.99970616e-01 -2.28204481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38241403699999 meters 0.08894132728910181 Centerline is valid? [True, True] Translation: X:112.47, Y:-8.31, Z:-2.28 [[ 9.99931680e-01 9.72152422e-03 -6.49056049e-03 1.12465512e+02] [-9.71824639e-03 9.99952633e-01 5.36364262e-04 -8.30844466e+00] [ 6.49546733e-03 -4.73250752e-04 9.99978792e-01 -2.28231481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44241403699999 meters 0.08378978449737622 Centerline is valid? [True, True] Translation: X:112.53, Y:-8.30, Z:-2.28 [[ 9.99910991e-01 1.30077864e-02 -2.96775556e-03 1.12527191e+02] [-1.30071154e-02 9.99915374e-01 2.45302262e-04 -8.29915054e+00] [ 2.97069524e-03 -2.06678489e-04 9.99995566e-01 -2.27692678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502414037 meters 0.08208174221983726 Centerline is valid? [True, True] Translation: X:112.59, Y:-8.30, Z:-2.28 [[ 9.99818861e-01 1.81247892e-02 -5.80829471e-03 1.12587653e+02] [-1.81223046e-02 9.99835662e-01 4.80110617e-04 -8.29763441e+00] [ 5.81604209e-03 -3.74763964e-04 9.99983016e-01 -2.27755104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562414037 meters 0.08157261885052765 Centerline is valid? [True, True] Translation: X:112.65, Y:-8.30, Z:-2.28 [[ 9.99693692e-01 2.30353461e-02 -9.04958440e-03 1.12646760e+02] [-2.30295192e-02 9.99734506e-01 7.47587408e-04 -8.29969318e+00] [ 9.06440272e-03 -5.38950838e-04 9.99958772e-01 -2.28428198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62241403699998 meters 0.07888936243505387 Centerline is valid? [True, True] Translation: X:112.71, Y:-8.30, Z:-2.28 [[ 9.99630217e-01 2.61250995e-02 -7.54374807e-03 1.12707141e+02] [-2.61211390e-02 9.99658591e-01 6.23068542e-04 -8.29893643e+00] [ 7.55745029e-03 -4.25786850e-04 9.99971351e-01 -2.28474695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68241403699999 meters 0.07811539286466737 Centerline is valid? [True, True] Translation: X:112.77, Y:-8.30, Z:-2.28 [[ 9.99469824e-01 3.24309025e-02 -2.88214418e-03 1.12765984e+02] [-3.24303522e-02 9.99473970e-01 2.37488254e-04 -8.30356310e+00] [ 2.88833004e-03 -1.43893392e-04 9.99995818e-01 -2.28271284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74241403699999 meters 0.0755030264346992 Centerline is valid? [True, True] Translation: X:112.83, Y:-8.30, Z:-2.28 [[ 9.99357752e-01 3.57092696e-02 -2.98867348e-03 1.12826494e+02] [-3.57086917e-02 9.99362211e-01 2.46533696e-04 -8.30128449e+00] [ 2.99557087e-03 -1.39653741e-04 9.99995504e-01 -2.27946698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80241403699999 meters 0.07518215463685235 Centerline is valid? [True, True] Translation: X:112.88, Y:-8.31, Z:-2.28 [[ 9.99213638e-01 3.91525974e-02 -6.25931763e-03 1.12884077e+02] [-3.91501374e-02 9.99233207e-01 5.15110574e-04 -8.30694128e+00] [ 6.27468595e-03 -2.69652366e-04 9.99980278e-01 -2.28143460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862414037 meters 0.07511256430125547 Centerline is valid? [True, True] Translation: X:112.94, Y:-8.31, Z:-2.28 [[ 9.99186623e-01 3.95235822e-02 -7.99870517e-03 1.12943029e+02] [-3.95196062e-02 9.99218581e-01 6.54584813e-04 -8.31150926e+00] [ 8.01832636e-03 -3.37946710e-04 9.99967796e-01 -2.28393269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922414037 meters 0.07518747227702109 Centerline is valid? [True, True] Translation: X:113.00, Y:-8.32, Z:-2.29 [[ 9.99238385e-01 3.82955674e-02 -7.48994086e-03 1.13001316e+02] [-3.82920625e-02 9.99266403e-01 6.10845182e-04 -8.32050039e+00] [ 7.50783893e-03 -3.23574669e-04 9.99971763e-01 -2.28612595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98241403699998 meters 0.07614049877667614 Centerline is valid? [True, True] Translation: X:113.06, Y:-8.33, Z:-2.29 [[ 9.99358282e-01 3.54758729e-02 -4.94834104e-03 1.13059269e+02] [-3.54743198e-02 9.99370508e-01 4.01315757e-04 -8.33481552e+00] [ 4.95946313e-03 -2.25519193e-04 9.99987676e-01 -2.28777152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04241403699999 meters 0.07589539945526443 Centerline is valid? [True, True] Translation: X:113.12, Y:-8.34, Z:-2.28 [[ 9.99409883e-01 3.41959728e-02 -3.24352700e-03 1.13118143e+02] [-3.41953049e-02 9.99415135e-01 2.61147154e-04 -8.33972873e+00] [ 3.25056016e-03 -1.50079652e-04 9.99994706e-01 -2.28467250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10241403699999 meters 0.07587127075087492 Centerline is valid? [True, True] Translation: X:113.18, Y:-8.35, Z:-2.29 [[ 9.99410527e-01 3.40243073e-02 -4.57653831e-03 1.13176272e+02] [-3.40229749e-02 9.99420983e-01 3.68719058e-04 -8.34620776e+00] [ 4.58643382e-03 -2.12794260e-04 9.99989460e-01 -2.28568435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16241403699999 meters 0.07547760334593522 Centerline is valid? [True, True] Translation: X:113.23, Y:-8.36, Z:-2.29 [[ 9.99419147e-01 3.39111085e-02 -3.37715934e-03 1.13234674e+02] [-3.39103781e-02 9.99424840e-01 2.73312772e-04 -8.35691822e+00] [ 3.38448527e-03 -1.58633268e-04 9.99994260e-01 -2.28611534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222414037 meters 0.07572486023724598 Centerline is valid? [True, True] Translation: X:113.29, Y:-8.36, Z:-2.29 [[ 9.99395433e-01 3.46663387e-02 -2.64844884e-03 1.13291655e+02] [-3.46658938e-02 9.99398934e-01 2.13700909e-04 -8.36423156e+00] [ 2.65426518e-03 -1.21760866e-04 9.99996470e-01 -2.28560833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282414037 meters 0.07525591969512335 Centerline is valid? [True, True] Translation: X:113.35, Y:-8.37, Z:-2.29 [[ 9.99279117e-01 3.77656817e-02 -3.87293916e-03 1.13351706e+02] [-3.77647482e-02 9.99286608e-01 3.13895232e-04 -8.36876901e+00] [ 3.88203071e-03 -1.67408378e-04 9.99992451e-01 -2.28620137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34241403699998 meters 0.07391646016301577 Centerline is valid? [True, True] Translation: X:113.41, Y:-8.37, Z:-2.29 [[ 9.99036565e-01 4.31533466e-02 -7.98318837e-03 1.13411967e+02] [-4.31495513e-02 9.99068415e-01 6.47121303e-04 -8.37011536e+00] [ 8.00367680e-03 -3.02026847e-04 9.99967924e-01 -2.28993339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40241403699999 meters 0.07264073362414172 Centerline is valid? [True, True] Translation: X:113.47, Y:-8.37, Z:-2.29 [[ 9.98543465e-01 5.31043345e-02 -9.53300211e-03 1.13472091e+02] [-5.30993738e-02 9.98588934e-01 7.72904401e-04 -8.37443870e+00] [ 9.56059499e-03 -2.65582196e-04 9.99954261e-01 -2.29170583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46241403699999 meters 0.07185530441127519 Centerline is valid? [True, True] Translation: X:113.53, Y:-8.38, Z:-2.29 [[ 9.98226773e-01 5.89171100e-02 -8.49024079e-03 1.13532229e+02] [-5.89133878e-02 9.98262861e-01 6.88054563e-04 -8.37696334e+00] [ 8.51603025e-03 -1.86645638e-04 9.99963721e-01 -2.29040362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52241403699999 meters 0.07173886555033354 Centerline is valid? [True, True] Translation: X:113.59, Y:-8.39, Z:-2.29 [[ 9.98138787e-01 6.05822184e-02 -6.98256949e-03 1.13590608e+02] [-6.05797574e-02 9.98163201e-01 5.63616704e-04 -8.38913230e+00] [ 7.00388906e-03 -1.39565328e-04 9.99975463e-01 -2.29004665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58241403699999 meters 0.07252870860964683 Centerline is valid? [True, True] Translation: X:113.65, Y:-8.41, Z:-2.29 [[ 9.98347674e-01 5.67932057e-02 -8.74374420e-03 1.13648308e+02] [-5.67891976e-02 9.98385942e-01 7.06196818e-04 -8.40640272e+00] [ 8.76973847e-03 -2.08479734e-04 9.99961523e-01 -2.29296063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642414037 meters 0.0728066090184704 Centerline is valid? [True, True] Translation: X:113.71, Y:-8.42, Z:-2.29 [[ 9.98621849e-01 5.14838633e-02 -1.01889738e-02 1.13707855e+02] [-5.14781329e-02 9.98673782e-01 8.24054210e-04 -8.42085586e+00] [ 1.02178865e-02 -2.98409191e-04 9.99947752e-01 -2.29233911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70241403699998 meters 0.0735797959424753 Centerline is valid? [True, True] Translation: X:113.76, Y:-8.43, Z:-2.29 [[ 9.98742093e-01 4.90731517e-02 -1.02983730e-02 1.13764980e+02] [-4.90672007e-02 9.98795135e-01 8.29878857e-04 -8.43415222e+00] [ 1.03266896e-02 -3.23522611e-04 9.99946626e-01 -2.29401793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76241403699999 meters 0.07530355790029915 Centerline is valid? [True, True] Translation: X:113.82, Y:-8.46, Z:-2.30 [[ 9.98961491e-01 4.45163502e-02 -9.70737956e-03 1.13821625e+02] [-4.45108496e-02 9.99008595e-01 7.82063966e-04 -8.45645302e+00] [ 9.73257024e-03 -3.49168074e-04 9.99952576e-01 -2.29706632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82241403699999 meters 0.07482233212096136 Centerline is valid? [True, True] Translation: X:113.88, Y:-8.47, Z:-2.29 [[ 9.99118535e-01 4.09784908e-02 -9.10582375e-03 1.13880149e+02] [-4.09735101e-02 9.99159964e-01 7.32942722e-04 -8.46566601e+00] [ 9.12820942e-03 -3.59199097e-04 9.99958273e-01 -2.29295221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88241403699999 meters 0.07546846685287457 Centerline is valid? [True, True] Translation: X:113.94, Y:-8.48, Z:-2.29 [[ 9.99210843e-01 3.83095447e-02 -1.04914504e-02 1.13939152e+02] [-3.83027824e-02 9.99265822e-01 8.44803793e-04 -8.47765204e+00] [ 1.05161119e-02 -4.42285368e-04 9.99944606e-01 -2.29372472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94241403699999 meters 0.07559621957616541 Centerline is valid? [True, True] Translation: X:114.00, Y:-8.49, Z:-2.30 [[ 9.99221448e-01 3.78661491e-02 -1.10748216e-02 1.13997218e+02] [-3.78586464e-02 9.99282711e-01 8.86397025e-04 -8.48834962e+00] [ 1.11004422e-02 -4.66429165e-04 9.99938279e-01 -2.29545663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002414037 meters 0.07587501908072503 Centerline is valid? [True, True] Translation: X:114.05, Y:-8.50, Z:-2.30 [[ 9.99180693e-01 3.92516744e-02 -9.86147005e-03 1.14054190e+02] [-3.92457839e-02 9.99229275e-01 7.90203752e-04 -8.50042853e+00] [ 9.88488639e-03 -4.02535210e-04 9.99951062e-01 -2.29586782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062414037 meters 0.07500123998966285 Centerline is valid? [True, True] Translation: X:114.11, Y:-8.51, Z:-2.29 [[ 9.99151843e-01 4.03478467e-02 -8.22475305e-03 1.14112839e+02] [-4.03437907e-02 9.99185641e-01 6.58527984e-04 -8.50523201e+00] [ 8.24462533e-03 -3.26151733e-04 9.99965959e-01 -2.29322159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12241403699998 meters 0.07663031401275532 Centerline is valid? [True, True] Translation: X:114.17, Y:-8.52, Z:-2.30 [[ 9.99313212e-01 3.52025849e-02 -1.15707707e-02 1.14172311e+02] [-3.51941995e-02 9.99380062e-01 9.27594484e-04 -8.52486221e+00] [ 1.15962513e-02 -5.19733411e-04 9.99932626e-01 -2.29729519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18241403699999 meters 0.0777183647696224 Centerline is valid? [True, True] Translation: X:114.23, Y:-8.54, Z:-2.30 [[ 9.99446384e-01 3.16618605e-02 -1.02202176e-02 1.14229296e+02] [-3.16551491e-02 9.99498516e-01 8.17815600e-04 -8.53873565e+00] [ 1.02409858e-02 -4.93840334e-04 9.99947438e-01 -2.29862015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24241403699999 meters 0.07727042048113104 Centerline is valid? [True, True] Translation: X:114.29, Y:-8.55, Z:-2.30 [[ 9.99583272e-01 2.67024848e-02 -1.09663118e-02 1.14289147e+02] [-2.66944501e-02 9.99643254e-01 8.78413258e-04 -8.54716250e+00] [ 1.09858555e-02 -5.85307533e-04 9.99939482e-01 -2.29764156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30241403699999 meters 0.07935543434456514 Centerline is valid? [True, True] Translation: X:114.35, Y:-8.57, Z:-2.30 [[ 9.99697319e-01 2.13388568e-02 -1.22443293e-02 1.14348145e+02] [-2.13284385e-02 9.99772042e-01 9.80839077e-04 -8.56516962e+00] [ 1.22624681e-02 -7.19389771e-04 9.99924554e-01 -2.30211022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362414037 meters 0.08017457077196863 Centerline is valid? [True, True] Translation: X:114.41, Y:-8.58, Z:-2.30 [[ 9.99772132e-01 1.77711628e-02 -1.18266299e-02 1.14408101e+02] [-1.77611946e-02 9.99841809e-01 9.47371009e-04 -8.57576398e+00] [ 1.18415949e-02 -7.37100059e-04 9.99929614e-01 -2.30258793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422414037 meters 0.08166778567065221 Centerline is valid? [True, True] Translation: X:114.47, Y:-8.59, Z:-2.30 [[ 9.99835921e-01 1.37024967e-02 -1.18478660e-02 1.14468276e+02] [-1.36922098e-02 9.99905807e-01 9.48932164e-04 -8.58516949e+00] [ 1.18597528e-02 -7.86552997e-04 9.99929361e-01 -2.30120943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48241403699998 meters 0.0830401250986414 Centerline is valid? [True, True] Translation: X:114.53, Y:-8.59, Z:-2.31 [[ 9.99842118e-01 1.09089880e-02 -1.40261637e-02 1.14528028e+02] [-1.08942974e-02 9.99940024e-01 1.12335475e-03 -8.59495551e+00] [ 1.40375771e-02 -9.70372195e-04 9.99900998e-01 -2.30564634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54241403699999 meters 0.08309459770496877 Centerline is valid? [True, True] Translation: X:114.59, Y:-8.60, Z:-2.31 [[ 9.99880641e-01 7.36760093e-03 -1.35802401e-02 1.14588585e+02] [-7.35350094e-03 9.99972371e-01 1.08791456e-03 -8.60053563e+00] [ 1.35878802e-02 -9.87922401e-04 9.99907192e-01 -2.30608865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60241403699999 meters 0.08472468541982903 Centerline is valid? [True, True] Translation: X:114.65, Y:-8.61, Z:-2.31 [[ 9.99853451e-01 4.65389922e-03 -1.64747521e-02 1.14648987e+02] [-4.63278341e-03 9.99988398e-01 1.31963987e-03 -8.60863371e+00] [ 1.64807025e-02 -1.24312252e-03 9.99863411e-01 -2.31199490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66241403699999 meters 0.08593251255388755 Centerline is valid? [True, True] Translation: X:114.71, Y:-8.62, Z:-2.31 [[ 9.99901760e-01 3.42353449e-03 -1.35922454e-02 1.14705672e+02] [-3.40909226e-03 9.99993600e-01 1.08556187e-03 -8.61552605e+00] [ 1.35958749e-02 -1.03911801e-03 9.99907032e-01 -2.31164522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722414037 meters 0.08418540122572045 Centerline is valid? [True, True] Translation: X:114.77, Y:-8.61, Z:-2.31 [[ 9.99936103e-01 4.52886492e-03 -1.03576034e-02 1.14765533e+02] [-4.52053374e-03 9.99989440e-01 8.27624669e-04 -8.61413817e+00] [ 1.03612422e-02 -7.80749891e-04 9.99946016e-01 -2.30782650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782414037 meters 0.0834017403406214 Centerline is valid? [True, True] Translation: X:114.82, Y:-8.61, Z:-2.31 [[ 9.99871570e-01 6.03323285e-03 -1.48473268e-02 1.14824150e+02] [-6.01631118e-03 9.99981201e-01 1.18411366e-03 -8.60981145e+00] [ 1.48541917e-02 -1.09463544e-03 9.99889071e-01 -2.31005312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84241403699998 meters 0.08429675926326122 Centerline is valid? [True, True] Translation: X:114.88, Y:-8.61, Z:-2.31 [[ 9.99792836e-01 5.84378054e-03 -1.94970583e-02 1.14883965e+02] [-5.81453765e-03 9.99981885e-01 1.55621359e-03 -8.61059525e+00] [ 1.95057993e-02 -1.44252482e-03 9.99808703e-01 -2.31428607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90241403699999 meters 0.08455447701667067 Centerline is valid? [True, True] Translation: X:114.94, Y:-8.61, Z:-2.32 [[ 9.99817283e-01 7.37802833e-03 -1.76342249e-02 1.14944530e+02] [-7.35435022e-03 9.99971966e-01 1.40720950e-03 -8.60945873e+00] [ 1.76441129e-02 -1.27726412e-03 9.99843515e-01 -2.31579124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96241403699999 meters 0.08510082153141638 Centerline is valid? [True, True] Translation: X:115.00, Y:-8.61, Z:-2.32 [[ 9.99775292e-01 7.90695994e-03 -1.96683791e-02 1.15003825e+02] [-7.87764355e-03 9.99967742e-01 1.56756670e-03 -8.60923674e+00] [ 1.96801394e-02 -1.41227397e-03 9.99805330e-01 -2.31997063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02241403699999 meters 0.08647885542745272 Centerline is valid? [True, True] Translation: X:115.06, Y:-8.61, Z:-2.32 [[ 9.99899923e-01 6.11387329e-03 -1.27579416e-02 1.15061566e+02] [-6.10141477e-03 9.99980871e-01 1.01522459e-03 -8.60914469e+00] [ 1.27639045e-02 -9.37281498e-04 9.99918099e-01 -2.31614124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08241403699999 meters 0.0838401223428784 Centerline is valid? [True, True] Translation: X:115.12, Y:-8.60, Z:-2.31 [[ 9.99899274e-01 4.42031737e-03 -1.34871631e-02 1.15121973e+02] [-4.40624337e-03 9.99989717e-01 1.07304742e-03 -8.59641371e+00] [ 1.34917676e-02 -1.01351161e-03 9.99908468e-01 -2.31126421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142414037 meters 0.08975222218834253 Centerline is valid? [True, True] Translation: X:115.18, Y:-8.61, Z:-2.32 [[ 9.99888368e-01 2.87903139e-03 -1.46616027e-02 1.15178774e+02] [-2.86225137e-03 9.99995225e-01 1.16534277e-03 -8.61160752e+00] [ 1.46648878e-02 -1.12324748e-03 9.99891834e-01 -2.31871497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20241403699998 meters 0.09158944085947548 Centerline is valid? [True, True] Translation: X:115.24, Y:-8.62, Z:-2.32 [[ 9.99861573e-01 -5.15056983e-04 -1.66303943e-02 1.15239110e+02] [ 5.37130937e-04 9.99998981e-01 1.32288656e-03 -8.61752404e+00] [ 1.66296960e-02 -1.33163614e-03 9.99860830e-01 -2.32257217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26241403699999 meters 0.09370463629185599 Centerline is valid? [True, True] Translation: X:115.30, Y:-8.62, Z:-2.33 [[ 9.99780475e-01 -3.20699867e-04 -2.09499291e-02 1.15297825e+02] [ 3.55656192e-04 9.99998551e-01 1.66486070e-03 -8.61538575e+00] [ 2.09493648e-02 -1.67194619e-03 9.99779140e-01 -2.33111948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32241403699999 meters 0.08615228944282194 Centerline is valid? [True, True] Translation: X:115.36, Y:-8.60, Z:-2.32 [[ 9.99820354e-01 -7.81573908e-04 -1.89380171e-02 1.15358663e+02] [ 8.10188090e-04 9.99998542e-01 1.50331339e-03 -8.59739209e+00] [ 1.89368146e-02 -1.51838668e-03 9.99819529e-01 -2.32373286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38241403699999 meters 0.08841839107910351 Centerline is valid? [True, True] Translation: X:115.42, Y:-8.60, Z:-2.32 [[ 9.99924148e-01 -4.12178158e-03 -1.16064086e-02 1.15416833e+02] [ 4.13273319e-03 9.99991037e-01 9.19757163e-04 -8.60176669e+00] [ 1.16025136e-02 -9.67653588e-04 9.99932220e-01 -2.32180978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44241403699999 meters 0.09142210599004552 Centerline is valid? [True, True] Translation: X:115.48, Y:-8.61, Z:-2.32 [[ 9.99926241e-01 -8.15330806e-03 -9.00196687e-03 1.15477153e+02] [ 8.16006598e-03 9.99966451e-01 7.14241897e-04 -8.60511016e+00] [ 8.99584143e-03 -7.87645860e-04 9.99959226e-01 -2.31811923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502414037 meters 0.09283051282702817 Centerline is valid? [True, True] Translation: X:115.54, Y:-8.61, Z:-2.32 [[ 9.99903194e-01 -9.01020169e-03 -1.06027692e-02 1.15537412e+02] [ 9.01962059e-03 9.99958969e-01 8.40860301e-04 -8.60655549e+00] [ 1.05947578e-02 -9.36411856e-04 9.99943436e-01 -2.32007286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562414037 meters 0.09119837816462364 Centerline is valid? [True, True] Translation: X:115.60, Y:-8.60, Z:-2.32 [[ 9.99905870e-01 -7.56868244e-03 -1.14440341e-02 1.15597916e+02] [ 7.57955966e-03 9.99970863e-01 9.07396957e-04 -8.60181928e+00] [ 1.14368329e-02 -9.94052284e-04 9.99934103e-01 -2.32201582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62241403699998 meters 0.08964175526290852 Centerline is valid? [True, True] Translation: X:115.66, Y:-8.60, Z:-2.33 [[ 9.99898922e-01 -5.01397300e-03 -1.33043292e-02 1.15658154e+02] [ 5.02844720e-03 9.99986801e-01 1.05470260e-03 -8.60004356e+00] [ 1.32988653e-02 -1.12149611e-03 9.99910937e-01 -2.32673894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68241403699999 meters 0.08817185790510995 Centerline is valid? [True, True] Translation: X:115.72, Y:-8.60, Z:-2.33 [[ 9.99913232e-01 -2.41715391e-03 -1.29493836e-02 1.15718567e+02] [ 2.43064982e-03 9.99996519e-01 1.02656777e-03 -8.59721813e+00] [ 1.29468571e-02 -1.05795411e-03 9.99915626e-01 -2.32648781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74241403699999 meters 0.08682594617647507 Centerline is valid? [True, True] Translation: X:115.78, Y:-8.59, Z:-2.32 [[ 9.99939392e-01 3.89740425e-03 -1.02967143e-02 1.15778736e+02] [-3.88920853e-03 9.99992104e-01 8.15859309e-04 -8.59051814e+00] [ 1.02998128e-02 -7.75763792e-04 9.99946655e-01 -2.32488423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80241403699999 meters 0.08635847615264729 Centerline is valid? [True, True] Translation: X:115.84, Y:-8.59, Z:-2.33 [[ 9.99941448e-01 5.18711428e-03 -9.49711489e-03 1.15838224e+02] [-5.18020480e-03 9.99986300e-01 7.51989086e-04 -8.59266466e+00] [ 9.50088544e-03 -7.02748055e-04 9.99954619e-01 -2.32595790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862414037 meters 0.08803204150578074 Centerline is valid? [True, True] Translation: X:115.90, Y:-8.60, Z:-2.33 [[ 9.99936713e-01 4.12788105e-03 -1.04657253e-02 1.15897177e+02] [-4.11943987e-03 9.99991172e-01 8.27984010e-04 -8.59767845e+00] [ 1.04690507e-02 -7.84818684e-04 9.99944890e-01 -2.32867850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922414037 meters 0.08577018487871713 Centerline is valid? [True, True] Translation: X:115.96, Y:-8.59, Z:-2.33 [[ 9.99888145e-01 7.63334299e-03 -1.28619197e-02 1.15957415e+02] [-7.62088280e-03 9.99970443e-01 1.01750000e-03 -8.59220168e+00] [ 1.28693064e-02 -9.19367005e-04 9.99916764e-01 -2.32982726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98241403699998 meters 0.08417124611222093 Centerline is valid? [True, True] Translation: X:116.02, Y:-8.59, Z:-2.33 [[ 9.99828806e-01 1.33666659e-02 -1.27941774e-02 1.16018106e+02] [-1.33548019e-02 9.99910308e-01 1.01228917e-03 -8.58833303e+00] [ 1.28065608e-02 -8.41252166e-04 9.99917639e-01 -2.33269006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04241403699999 meters 0.07969425239744662 Centerline is valid? [True, True] Translation: X:116.08, Y:-8.58, Z:-2.33 [[ 9.99786619e-01 1.78589739e-02 -1.03813828e-02 1.16078418e+02] [-1.78514092e-02 9.99840314e-01 8.20896154e-04 -8.58142140e+00] [ 1.03943854e-02 -6.35398678e-04 9.99945775e-01 -2.32892803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10241403699999 meters 0.0790193542939826 Centerline is valid? [True, True] Translation: X:116.14, Y:-8.58, Z:-2.33 [[ 9.99763444e-01 1.96353455e-02 -9.35467059e-03 1.16138474e+02] [-1.96292815e-02 9.99807054e-01 7.39624876e-04 -8.58185900e+00] [ 9.36738843e-03 -5.55824451e-04 9.99955971e-01 -2.32691758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16241403699999 meters 0.08031560791279 Centerline is valid? [True, True] Translation: X:116.20, Y:-8.59, Z:-2.33 [[ 9.99791219e-01 1.83332213e-02 -9.02283811e-03 1.16195471e+02] [-1.83275460e-02 9.99831783e-01 7.11274686e-04 -8.58770082e+00] [ 9.03436028e-03 -5.45759705e-04 9.99959040e-01 -2.32669012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222414037 meters 0.0818894820237853 Centerline is valid? [True, True] Translation: X:116.25, Y:-8.60, Z:-2.33 [[ 9.99771784e-01 1.82745111e-02 -1.10644730e-02 1.16252370e+02] [-1.82659772e-02 9.99832783e-01 8.71865329e-04 -8.59637840e+00] [ 1.10785558e-02 -6.69562943e-04 9.99938407e-01 -2.33076393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282414037 meters 0.08039922992465078 Centerline is valid? [True, True] Translation: X:116.31, Y:-8.60, Z:-2.33 [[ 9.99744072e-01 2.02075856e-02 -1.01707674e-02 1.16312025e+02] [-2.02004719e-02 9.99795628e-01 8.01685060e-04 -8.59687122e+00] [ 1.01848889e-02 -5.96025585e-04 9.99947955e-01 -2.32985757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34241403699998 meters 0.07906484224497386 Centerline is valid? [True, True] Translation: X:116.37, Y:-8.60, Z:-2.33 [[ 9.99664859e-01 2.34966089e-02 -1.08664502e-02 1.16372386e+02] [-2.34886814e-02 9.99723736e-01 8.56596642e-04 -8.59914488e+00] [ 1.08835753e-02 -6.01070974e-04 9.99940591e-01 -2.33069706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40241403699999 meters 0.0784774174567989 Centerline is valid? [True, True] Translation: X:116.43, Y:-8.60, Z:-2.33 [[ 9.99641391e-01 2.39388424e-02 -1.20008926e-02 1.16430143e+02] [-2.39292860e-02 9.99713212e-01 9.39288081e-04 -8.60202441e+00] [ 1.20199363e-02 -6.51778452e-04 9.99927546e-01 -2.32994256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46241403699999 meters 0.07936078081746989 Centerline is valid? [True, True] Translation: X:116.49, Y:-8.61, Z:-2.33 [[ 9.99628537e-01 2.36875435e-02 -1.34791880e-02 1.16487828e+02] [-2.36754392e-02 9.99719139e-01 1.05688159e-03 -8.61079860e+00] [ 1.35004372e-02 -7.37363300e-04 9.99908593e-01 -2.33489032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52241403699999 meters 0.08078286206295546 Centerline is valid? [True, True] Translation: X:116.54, Y:-8.62, Z:-2.34 [[ 9.99656415e-01 2.27286869e-02 -1.30559523e-02 1.16544512e+02] [-2.27172695e-02 9.99741407e-01 1.02215765e-03 -8.62047691e+00] [ 1.30758084e-02 -7.25210869e-04 9.99914245e-01 -2.33701100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58241403699999 meters 0.07736118073005785 Centerline is valid? [True, True] Translation: X:116.60, Y:-8.62, Z:-2.33 [[ 9.99583795e-01 2.62023336e-02 -1.20695503e-02 1.16604676e+02] [-2.61928244e-02 9.99656462e-01 9.45294816e-04 -8.61535879e+00] [ 1.20901729e-02 -6.28765768e-04 9.99926714e-01 -2.33336200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642414037 meters 0.07559533689791863 Centerline is valid? [True, True] Translation: X:116.66, Y:-8.62, Z:-2.33 [[ 9.99370660e-01 3.44725622e-02 -8.36222762e-03 1.16664104e+02] [-3.44682875e-02 9.99405578e-01 6.54809966e-04 -8.61715343e+00] [ 8.37982990e-03 -3.66166202e-04 9.99964822e-01 -2.33244035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70241403699998 meters 0.07416768482723864 Centerline is valid? [True, True] Translation: X:116.72, Y:-8.62, Z:-2.33 [[ 9.99178357e-01 4.00152543e-02 -6.43350554e-03 1.16724327e+02] [-4.00128381e-02 9.99199039e-01 5.03895003e-04 -8.61664561e+00] [ 6.44851604e-03 -2.46058165e-04 9.99979178e-01 -2.32994860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76241403699999 meters 0.07304771964997898 Centerline is valid? [True, True] Translation: X:116.78, Y:-8.62, Z:-2.33 [[ 9.98881811e-01 4.64350559e-02 -8.88335438e-03 1.16784232e+02] [-4.64307050e-02 9.98921271e-01 6.95493634e-04 -8.61820308e+00] [ 8.90606694e-03 -2.82255533e-04 9.99960300e-01 -2.33176718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82241403699999 meters 0.0734927985538026 Centerline is valid? [True, True] Translation: X:116.84, Y:-8.63, Z:-2.34 [[ 9.98730114e-01 4.85391783e-02 -1.34947155e-02 1.16841758e+02] [-4.85294093e-02 9.98821202e-01 1.05062465e-03 -8.62980001e+00] [ 1.35298044e-02 -3.94399902e-04 9.99908390e-01 -2.33978713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88241403699999 meters 0.07295637061411561 Centerline is valid? [True, True] Translation: X:116.90, Y:-8.64, Z:-2.34 [[ 9.98706375e-01 4.93218555e-02 -1.23664940e-02 1.16900049e+02] [-4.93137512e-02 9.98782876e-01 9.59609113e-04 -8.63645274e+00] [ 1.23987722e-02 -3.48529529e-04 9.99923072e-01 -2.33782438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94241403699999 meters 0.07243817854522526 Centerline is valid? [True, True] Translation: X:116.96, Y:-8.64, Z:-2.33 [[ 9.98752757e-01 4.88253910e-02 -1.04408917e-02 1.16959046e+02] [-4.88196147e-02 9.98807285e-01 8.07541458e-04 -8.64240050e+00] [ 1.04678672e-02 -2.96813949e-04 9.99945166e-01 -2.33230401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002414037 meters 0.07339376032446954 Centerline is valid? [True, True] Translation: X:117.02, Y:-8.66, Z:-2.34 [[ 9.98851758e-01 4.63376638e-02 -1.21649951e-02 1.17016617e+02] [-4.63296110e-02 9.98925762e-01 9.43100842e-04 -8.65738817e+00] [ 1.21956281e-02 -3.78418441e-04 9.99925559e-01 -2.33615768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062414037 meters 0.07417829422019244 Centerline is valid? [True, True] Translation: X:117.08, Y:-8.67, Z:-2.34 [[ 9.98902476e-01 4.46211404e-02 -1.42407015e-02 1.17075254e+02] [-4.46099323e-02 9.99003872e-01 1.10388731e-03 -8.67098051e+00] [ 1.42757726e-02 -4.67399042e-04 9.99897987e-01 -2.34065358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12241403699998 meters 0.07416973195846577 Centerline is valid? [True, True] Translation: X:117.13, Y:-8.68, Z:-2.34 [[ 9.98906072e-01 4.40660599e-02 -1.56473867e-02 1.17133683e+02] [-4.40525602e-02 9.99028486e-01 1.20654483e-03 -8.67849527e+00] [ 1.56853528e-02 -5.15917510e-04 9.99876844e-01 -2.34111183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18241403699999 meters 0.07389009226061083 Centerline is valid? [True, True] Translation: X:117.19, Y:-8.69, Z:-2.34 [[ 9.98839509e-01 4.62936116e-02 -1.32867469e-02 1.17192032e+02] [-4.62840509e-02 9.98927792e-01 1.02632549e-03 -8.68548046e+00] [ 1.33200130e-02 -4.10169975e-04 9.99911201e-01 -2.33930868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24241403699999 meters 0.07361877413896349 Centerline is valid? [True, True] Translation: X:117.25, Y:-8.70, Z:-2.34 [[ 9.98924324e-01 4.50963681e-02 -1.07941386e-02 1.17249952e+02] [-4.50900476e-02 9.98982583e-01 8.28315699e-04 -8.69560605e+00] [ 1.08205105e-02 -3.40716475e-04 9.99941399e-01 -2.33764517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30241403699999 meters 0.07431489799160332 Centerline is valid? [True, True] Translation: X:117.31, Y:-8.71, Z:-2.34 [[ 9.99079272e-01 4.18775096e-02 -9.32106334e-03 1.17306845e+02] [-4.18726484e-02 9.99122699e-01 7.16157523e-04 -8.71014888e+00] [ 9.34287686e-03 -3.25200529e-04 9.99956301e-01 -2.33688904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362414037 meters 0.07463728601294074 Centerline is valid? [True, True] Translation: X:117.37, Y:-8.72, Z:-2.34 [[ 9.99084828e-01 4.01753020e-02 -1.46782500e-02 1.17366224e+02] [-4.01630436e-02 9.99192502e-01 1.12908497e-03 -8.71804257e+00] [ 1.47117587e-02 -5.38528466e-04 9.99891631e-01 -2.33794119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422414037 meters 0.07525059913850832 Centerline is valid? [True, True] Translation: X:117.42, Y:-8.73, Z:-2.34 [[ 9.99110651e-01 3.89936191e-02 -1.60438659e-02 1.17424397e+02] [-3.89789299e-02 9.99239279e-01 1.22737168e-03 -8.72940384e+00] [ 1.60795207e-02 -6.00907393e-04 9.99870536e-01 -2.34110125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48241403699998 meters 0.07528724193283455 Centerline is valid? [True, True] Translation: X:117.48, Y:-8.74, Z:-2.34 [[ 9.99246760e-01 3.64061249e-02 -1.34352785e-02 1.17482290e+02] [-3.63956417e-02 9.99336934e-01 1.02403596e-03 -8.74369294e+00] [ 1.34636512e-02 -5.34279035e-04 9.99909218e-01 -2.33877878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54241403699999 meters 0.07551233090368568 Centerline is valid? [True, True] Translation: X:117.54, Y:-8.75, Z:-2.34 [[ 9.99248724e-01 3.56986482e-02 -1.50862084e-02 1.17540383e+02] [-3.56853971e-02 9.99362415e-01 1.14672757e-03 -8.75087282e+00] [ 1.51175262e-02 -6.07508726e-04 9.99885539e-01 -2.33787923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60241403699999 meters 0.07802262709472535 Centerline is valid? [True, True] Translation: X:117.60, Y:-8.77, Z:-2.34 [[ 9.99301051e-01 3.35847982e-02 -1.64155686e-02 1.17597167e+02] [-3.35688050e-02 9.99435629e-01 1.24892410e-03 -8.77163219e+00] [ 1.64482490e-02 -6.97000139e-04 9.99864475e-01 -2.34497538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66241403699999 meters 0.07649886198441296 Centerline is valid? [True, True] Translation: X:117.66, Y:-8.78, Z:-2.34 [[ 9.99298765e-01 3.30203800e-02 -1.76531075e-02 1.17655969e+02] [-3.30019076e-02 9.99454395e-01 1.33678340e-03 -8.77815236e+00] [ 1.76876169e-02 -7.53259777e-04 9.99843278e-01 -2.34374966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722414037 meters 0.07654089790908661 Centerline is valid? [True, True] Translation: X:117.71, Y:-8.78, Z:-2.34 [[ 9.99294558e-01 3.31622921e-02 -1.76252137e-02 1.17714625e+02] [-3.31439725e-02 9.99449702e-01 1.33056993e-03 -8.78426589e+00] [ 1.76596393e-02 -7.45461689e-04 9.99843779e-01 -2.34217223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782414037 meters 0.0775956209489988 Centerline is valid? [True, True] Translation: X:117.77, Y:-8.80, Z:-2.35 [[ 9.99333365e-01 3.10172897e-02 -1.92549544e-02 1.17771996e+02] [-3.09950023e-02 9.99518481e-01 1.45491566e-03 -8.79788974e+00] [ 1.92908103e-02 -8.57138402e-04 9.99813548e-01 -2.34645241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84241403699998 meters 0.07881786205099996 Centerline is valid? [True, True] Translation: X:117.83, Y:-8.81, Z:-2.35 [[ 9.99420966e-01 2.71100341e-02 -2.05615712e-02 1.17830972e+02] [-2.70837869e-02 9.99631959e-01 1.55396622e-03 -8.80941607e+00] [ 2.05961318e-02 -9.96181211e-04 9.99787381e-01 -2.34988410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90241403699999 meters 0.07882428759664362 Centerline is valid? [True, True] Translation: X:117.89, Y:-8.82, Z:-2.35 [[ 9.99559527e-01 2.24346603e-02 -1.94277680e-02 1.17891092e+02] [-2.24103571e-02 9.99747779e-01 1.46779004e-03 -8.81553024e+00] [ 1.94557973e-02 -1.03176030e-03 9.99810186e-01 -2.34625245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96241403699999 meters 0.07811578963223893 Centerline is valid? [True, True] Translation: X:117.95, Y:-8.82, Z:-2.35 [[ 9.99579817e-01 2.24335582e-02 -1.83555023e-02 1.17949670e+02] [-2.24120005e-02 9.99747868e-01 1.37934387e-03 -8.81851488e+00] [ 1.83818179e-02 -9.67380765e-04 9.99830572e-01 -2.34524455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02241403699999 meters 0.07804134175836858 Centerline is valid? [True, True] Translation: X:118.01, Y:-8.82, Z:-2.35 [[ 9.99549081e-01 2.38588965e-02 -1.82315186e-02 1.18007978e+02] [-2.38378457e-02 9.99714898e-01 1.37111593e-03 -8.82363709e+00] [ 1.82590341e-02 -9.35897539e-04 9.99832852e-01 -2.34661158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08241403699999 meters 0.07681426501227442 Centerline is valid? [True, True] Translation: X:118.07, Y:-8.83, Z:-2.34 [[ 9.99504721e-01 2.74041299e-02 -1.54701752e-02 1.18068566e+02] [-2.73893865e-02 9.99624163e-01 1.16412923e-03 -8.82565853e+00] [ 1.54962629e-02 -7.39834051e-04 9.99879652e-01 -2.34410677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142414037 meters 0.07676022855903368 Centerline is valid? [True, True] Translation: X:118.13, Y:-8.83, Z:-2.35 [[ 9.99373131e-01 3.08954357e-02 -1.72862992e-02 1.18126384e+02] [-3.08775920e-02 9.99522330e-01 1.29825785e-03 -8.82994792e+00] [ 1.73181523e-02 -7.63684721e-04 9.99849738e-01 -2.34660023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20241403699998 meters 0.0757014625323658 Centerline is valid? [True, True] Translation: X:118.19, Y:-8.83, Z:-2.35 [[ 9.99259283e-01 3.46039465e-02 -1.68360416e-02 1.18186153e+02] [-3.45875444e-02 9.99400872e-01 1.26452002e-03 -8.83040044e+00] [ 1.68697120e-02 -6.81266031e-04 9.99857464e-01 -2.34715463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26241403699999 meters 0.0761772054644749 Centerline is valid? [True, True] Translation: X:118.24, Y:-8.84, Z:-2.35 [[ 9.99343388e-01 3.31371106e-02 -1.46535126e-02 1.18244724e+02] [-3.31246194e-02 9.99450630e-01 1.09439334e-03 -8.84019784e+00] [ 1.46817275e-02 -6.08282719e-04 9.99892033e-01 -2.34907696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32241403699999 meters 0.07571333807508901 Centerline is valid? [True, True] Translation: X:118.30, Y:-8.85, Z:-2.35 [[ 9.99479896e-01 3.01946839e-02 -1.13233916e-02 1.18303102e+02] [-3.01870768e-02 9.99543912e-01 8.42153295e-04 -8.84843146e+00] [ 1.13436557e-02 -4.99895194e-04 9.99935534e-01 -2.34725004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38241403699999 meters 0.07569893097218389 Centerline is valid? [True, True] Translation: X:118.36, Y:-8.85, Z:-2.35 [[ 9.99521863e-01 2.91219667e-02 -1.03901961e-02 1.18362146e+02] [-2.91154898e-02 9.99575755e-01 7.74109932e-04 -8.85359783e+00] [ 1.04083317e-02 -4.71224154e-04 9.99945721e-01 -2.34553314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44241403699999 meters 0.07655537278004745 Centerline is valid? [True, True] Translation: X:118.42, Y:-8.86, Z:-2.35 [[ 9.99514643e-01 2.69633909e-02 -1.56030282e-02 1.18421950e+02] [-2.69485039e-02 9.99636146e-01 1.16361771e-03 -8.86245149e+00] [ 1.56287261e-02 -7.42574669e-04 9.99877588e-01 -2.35087222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502414037 meters 0.0783947874789305 Centerline is valid? [True, True] Translation: X:118.48, Y:-8.88, Z:-2.35 [[ 9.99668717e-01 2.09965696e-02 -1.48862562e-02 1.18480473e+02] [-2.09823568e-02 9.99779230e-01 1.11031424e-03 -8.87569224e+00] [ 1.49062825e-02 -7.97597674e-04 9.99888577e-01 -2.35406727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562414037 meters 0.07847267373868844 Centerline is valid? [True, True] Translation: X:118.54, Y:-8.88, Z:-2.35 [[ 9.99723538e-01 1.88987847e-02 -1.39886588e-02 1.18539646e+02] [-1.88860429e-02 9.99821099e-01 1.04242097e-03 -8.88093079e+00] [ 1.40058567e-02 -7.77942367e-04 9.99901611e-01 -2.35338729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62241403699998 meters 0.0789707879884301 Centerline is valid? [True, True] Translation: X:118.60, Y:-8.89, Z:-2.36 [[ 9.99727445e-01 1.83791163e-02 -1.43959812e-02 1.18597855e+02] [-1.83655881e-02 9.99830764e-01 1.07137146e-03 -8.88785094e+00] [ 1.44132358e-02 -8.06688787e-04 9.99895799e-01 -2.35613684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68241403699999 meters 0.07717345347459104 Centerline is valid? [True, True] Translation: X:118.66, Y:-8.89, Z:-2.35 [[ 9.99668502e-01 2.09713252e-02 -1.49362172e-02 1.18657505e+02] [-2.09570515e-02 9.99779759e-01 1.11154015e-03 -8.88737271e+00] [ 1.49562381e-02 -7.98152603e-04 9.99887831e-01 -2.35365378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74241403699999 meters 0.0753113206882852 Centerline is valid? [True, True] Translation: X:118.72, Y:-8.89, Z:-2.36 [[ 9.99451622e-01 2.95840125e-02 -1.48741562e-02 1.18718049e+02] [-2.95708091e-02 9.99562075e-01 1.10687199e-03 -8.88719742e+00] [ 1.49003881e-02 -6.66424176e-04 9.99888761e-01 -2.35504958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80241403699999 meters 0.07416831599917466 Centerline is valid? [True, True] Translation: X:118.78, Y:-8.89, Z:-2.35 [[ 9.99343164e-01 3.41352067e-02 -1.21667101e-02 1.18778850e+02] [-3.41267086e-02 9.99417104e-01 9.05465055e-04 -8.88975921e+00] [ 1.21905264e-02 -4.89660542e-04 9.99925573e-01 -2.35441068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862414037 meters 0.07399142914086632 Centerline is valid? [True, True] Translation: X:118.84, Y:-8.90, Z:-2.35 [[ 9.99280100e-01 3.70783675e-02 -8.02969126e-03 1.18837269e+02] [-3.70747694e-02 9.99312316e-01 5.96539217e-04 -8.89524829e+00] [ 8.04628807e-03 -2.98410817e-04 9.99967584e-01 -2.35225586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922414037 meters 0.07438303250939625 Centerline is valid? [True, True] Translation: X:118.90, Y:-8.91, Z:-2.35 [[ 9.99337377e-01 3.51539849e-02 -9.43419683e-03 1.18895998e+02] [-3.51489320e-02 9.99381840e-01 7.00919641e-04 -8.90658244e+00] [ 9.45300511e-03 -3.68853253e-04 9.99955251e-01 -2.35462773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98241403699998 meters 0.07523479845861819 Centerline is valid? [True, True] Translation: X:118.96, Y:-8.92, Z:-2.36 [[ 9.99408994e-01 3.22089074e-02 -1.20104106e-02 1.18955441e+02] [-3.22005037e-02 9.99481031e-01 8.92475421e-04 -8.91961548e+00] [ 1.20329232e-02 -5.05206691e-04 9.99927474e-01 -2.35944818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04241403699999 meters 0.0759089617035134 Centerline is valid? [True, True] Translation: X:119.01, Y:-8.93, Z:-2.36 [[ 9.99445900e-01 3.01875925e-02 -1.40215193e-02 1.19014626e+02] [-3.01759490e-02 9.99544060e-01 1.04127638e-03 -8.92726394e+00] [ 1.40465600e-02 -6.17586757e-04 9.99901151e-01 -2.36138449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10241403699999 meters 0.07479887384227453 Centerline is valid? [True, True] Translation: X:119.07, Y:-8.93, Z:-2.36 [[ 9.99539109e-01 2.69007442e-02 -1.40683771e-02 1.19073964e+02] [-2.68887052e-02 9.99637888e-01 1.04423053e-03 -8.93288707e+00] [ 1.40913733e-02 -6.65468811e-04 9.99900490e-01 -2.35876369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16241403699999 meters 0.07608535442295548 Centerline is valid? [True, True] Translation: X:119.13, Y:-8.95, Z:-2.36 [[ 9.99665136e-01 2.35328482e-02 -1.07620472e-02 1.19130360e+02] [-2.35256319e-02 9.99722917e-01 7.96650832e-04 -8.94542437e+00] [ 1.07778127e-02 -5.43200101e-04 9.99941770e-01 -2.35941912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222414037 meters 0.07602766417771062 Centerline is valid? [True, True] Translation: X:119.19, Y:-8.95, Z:-2.36 [[ 9.99716072e-01 1.97561393e-02 -1.33217721e-02 1.19190368e+02] [-1.97447265e-02 9.99804566e-01 9.87694377e-04 -8.95264880e+00] [ 1.33386816e-02 -7.24379197e-04 9.99910773e-01 -2.35724783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282414037 meters 0.07817630396604204 Centerline is valid? [True, True] Translation: X:119.25, Y:-8.96, Z:-2.36 [[ 9.99639504e-01 1.63874264e-02 -2.12676656e-02 1.19249208e+02] [-1.63575837e-02 9.99864963e-01 1.57641093e-03 -8.96293143e+00] [ 2.12906270e-02 -1.22795502e-03 9.99772575e-01 -2.36432617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34241403699998 meters 0.07867318184880548 Centerline is valid? [True, True] Translation: X:119.31, Y:-8.97, Z:-2.36 [[ 9.99770740e-01 1.39329832e-02 -1.62585448e-02 1.19307823e+02] [-1.39152514e-02 9.99902454e-01 1.20323892e-03 -8.96905450e+00] [ 1.62737235e-02 -9.76721326e-04 9.99867097e-01 -2.36318918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40241403699999 meters 0.07982813502452277 Centerline is valid? [True, True] Translation: X:119.37, Y:-8.98, Z:-2.36 [[ 9.99882741e-01 1.06849036e-02 -1.09698429e-02 1.19366049e+02] [-1.06766487e-02 9.99942674e-01 8.10804221e-04 -8.97781234e+00] [ 1.09778774e-02 -6.93587988e-04 9.99939501e-01 -2.36148656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46241403699999 meters 0.08025050205583924 Centerline is valid? [True, True] Translation: X:119.43, Y:-8.98, Z:-2.36 [[ 9.99963243e-01 1.95364284e-03 -8.34841088e-03 1.19425977e+02] [-1.94855420e-03 9.99997911e-01 6.17625250e-04 -8.98412009e+00] [ 8.34960006e-03 -6.01335217e-04 9.99964961e-01 -2.35677283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52241403699999 meters 0.08419473270713705 Centerline is valid? [True, True] Translation: X:119.48, Y:-9.00, Z:-2.36 [[ 9.99950795e-01 -2.61539486e-03 -9.56911822e-03 1.19484685e+02] [ 2.62228582e-03 9.99996311e-01 7.07648903e-04 -8.99775252e+00] [ 9.56723214e-03 -7.32707046e-04 9.99953965e-01 -2.36080062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58241403699999 meters 0.08403216015407439 Centerline is valid? [True, True] Translation: X:119.55, Y:-9.00, Z:-2.36 [[ 9.99906584e-01 -6.43330975e-03 -1.20596663e-02 1.19545192e+02] [ 6.44452917e-03 9.99978836e-01 8.91695336e-04 -8.99571223e+00] [ 1.20536745e-02 -9.69330908e-04 9.99926882e-01 -2.36008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642414037 meters 0.08324562457814287 Centerline is valid? [True, True] Translation: X:119.60, Y:-8.99, Z:-2.36 [[ 9.99881416e-01 -7.76137324e-03 -1.33009585e-02 1.19604597e+02] [ 7.77512241e-03 9.99969291e-01 9.82298613e-04 -8.99330043e+00] [ 1.32929260e-02 -1.08559871e-03 9.99911056e-01 -2.36125514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70241403699998 meters 0.08670090825165976 Centerline is valid? [True, True] Translation: X:119.66, Y:-9.00, Z:-2.37 [[ 9.99845100e-01 -1.14149049e-02 -1.33968586e-02 1.19663344e+02] [ 1.14291820e-02 9.99934195e-01 9.89623686e-04 -9.00035003e+00] [ 1.33846806e-02 -1.14258553e-03 9.99909768e-01 -2.36621627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76241403699999 meters 0.1223384592619981 Centerline is valid? [True, False] Translation: X:119.74, Y:-9.00, Z:-2.37 [[ 9.99886537e-01 -1.22763745e-02 -8.72947325e-03 1.19742137e+02] [ 1.22589954e-02 9.99922772e-01 -2.04157917e-03 -9.00138191e+00] [ 8.75386228e-03 1.93433295e-03 9.99959813e-01 -2.36847792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82241403699999 meters 0.08505745119662474 Centerline is valid? [False, True] Translation: X:119.69, Y:-8.99, Z:-2.37 [[ 9.99951340e-01 -6.04035444e-03 -7.79951696e-03 1.19692441e+02] [ 6.06312965e-03 9.99977415e-01 2.89974384e-03 -8.99129560e+00] [ 7.78182532e-03 -2.94689222e-03 9.99965379e-01 -2.37204521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88241403699999 meters 0.0858008537081148 Centerline is valid? [True, True] Translation: X:119.75, Y:-8.99, Z:-2.37 [[ 9.99975544e-01 -4.94779520e-03 -4.94275323e-03 1.19751460e+02] [ 4.94980059e-03 9.99987672e-01 3.93572290e-04 -8.99187424e+00] [ 4.94074498e-03 -4.18028307e-04 9.99987707e-01 -2.36918844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94241403699999 meters 0.08599386023432216 Centerline is valid? [True, True] Translation: X:119.81, Y:-8.99, Z:-2.37 [[ 9.99963917e-01 -4.23513829e-03 -7.36395504e-03 1.19812059e+02] [ 4.23957738e-03 9.99990840e-01 5.87308547e-04 -8.98911354e+00] [ 7.36140026e-03 -6.18507413e-04 9.99972713e-01 -2.37149991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002414037 meters 0.08634088496419137 Centerline is valid? [True, True] Translation: X:119.87, Y:-8.99, Z:-2.38 [[ 9.99954755e-01 -6.14006432e-03 -7.26555820e-03 1.19872476e+02] [ 6.14443550e-03 9.99980955e-01 5.79460956e-04 -8.99008437e+00] [ 7.26186190e-03 -6.24077492e-04 9.99973438e-01 -2.37700648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062414037 meters 0.08634781807303046 Centerline is valid? [True, True] Translation: X:119.93, Y:-8.99, Z:-2.38 [[ 9.99978889e-01 -3.97830425e-03 -5.13764689e-03 1.19932697e+02] [ 3.98045897e-03 9.99991994e-01 4.09241484e-04 -8.98835091e+00] [ 5.13597768e-03 -4.29683037e-04 9.99986718e-01 -2.37749513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12241403699998 meters 0.08598703685015163 Centerline is valid? [True, True] Translation: X:119.99, Y:-8.99, Z:-2.38 [[ 9.99979655e-01 -1.58425115e-03 -6.17898249e-03 1.19993162e+02] [ 1.58732287e-03 9.99998619e-01 4.92251286e-04 -8.98805637e+00] [ 6.17819411e-03 -5.02049311e-04 9.99980789e-01 -2.37851356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18241403699999 meters 0.08476458397657124 Centerline is valid? [True, True] Translation: X:120.05, Y:-8.99, Z:-2.38 [[ 9.99987829e-01 -2.71243828e-04 -4.92623407e-03 1.20053597e+02] [ 2.73179679e-04 9.99999886e-01 3.92299111e-04 -8.98932047e+00] [ 4.92612710e-03 -3.93640084e-04 9.99987789e-01 -2.37844045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24241403699999 meters 0.08411805437379746 Centerline is valid? [True, True] Translation: X:120.11, Y:-8.99, Z:-2.38 [[ 9.99945262e-01 5.71472995e-03 -8.76441601e-03 1.20112565e+02] [-5.70883641e-03 9.99983461e-01 6.97311091e-04 -8.98817527e+00] [ 8.76825600e-03 -6.47238305e-04 9.99961349e-01 -2.38101186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30241403699999 meters 0.08393004970944618 Centerline is valid? [True, True] Translation: X:120.17, Y:-8.99, Z:-2.38 [[ 9.99900535e-01 1.10996153e-02 -8.70159155e-03 1.20172052e+02] [-1.10940084e-02 9.99938220e-01 6.92356225e-04 -8.98566361e+00] [ 8.70873885e-03 -5.95751830e-04 9.99961901e-01 -2.38338032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362414037 meters 0.0806877668777439 Centerline is valid? [True, True] Translation: X:120.23, Y:-8.98, Z:-2.38 [[ 9.99895550e-01 1.24763201e-02 -7.29598859e-03 1.20231975e+02] [-1.24724181e-02 9.99922048e-01 5.80069736e-04 -8.98238359e+00] [ 7.30265699e-03 -4.89010527e-04 9.99973216e-01 -2.38331249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422414037 meters 0.08099768345740442 Centerline is valid? [True, True] Translation: X:120.29, Y:-8.99, Z:-2.39 [[ 9.99887999e-01 1.35076398e-02 -6.44464830e-03 1.20290210e+02] [-1.35046239e-02 9.99908678e-01 5.11259362e-04 -8.98716723e+00] [ 6.45096567e-03 -4.24169549e-04 9.99979102e-01 -2.38603324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48241403699998 meters 0.08053742910977715 Centerline is valid? [True, True] Translation: X:120.35, Y:-8.99, Z:-2.38 [[ 9.99894872e-01 1.41066091e-02 -3.35391607e-03 1.20350270e+02] [-1.41057959e-02 9.99900473e-01 2.65985193e-04 -8.98672230e+00] [ 3.35733441e-03 -2.18647575e-04 9.99994340e-01 -2.38281969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54241403699999 meters 0.0818990008712273 Centerline is valid? [True, True] Translation: X:120.41, Y:-8.99, Z:-2.38 [[ 9.99896544e-01 1.43745209e-02 5.24192349e-04 1.20408014e+02] [-1.43745004e-02 9.99896681e-01 -4.28522726e-05 -8.99458417e+00] [-5.24754171e-04 3.53128361e-05 9.99999862e-01 -2.38071937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60241403699999 meters 0.08181480594342316 Centerline is valid? [True, True] Translation: X:120.47, Y:-9.00, Z:-2.38 [[ 9.99889032e-01 1.45739614e-02 -3.08602819e-03 1.20466052e+02] [-1.45732795e-02 9.99893775e-01 2.43336594e-04 -8.99936753e+00] [ 3.08924675e-03 -1.98336040e-04 9.99995209e-01 -2.38486469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66241403699999 meters 0.0821069939674028 Centerline is valid? [True, True] Translation: X:120.52, Y:-9.00, Z:-2.39 [[ 9.99814371e-01 1.66331845e-02 -9.72422935e-03 1.20524300e+02] [-1.66264819e-02 9.99861474e-01 7.69705150e-04 -9.00218304e+00] [ 9.73568494e-03 -6.07882546e-04 9.99952422e-01 -2.39290615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722414037 meters 0.08188114030194178 Centerline is valid? [True, True] Translation: X:120.58, Y:-9.01, Z:-2.40 [[ 9.99786977e-01 1.82368447e-02 -9.66534179e-03 1.20582850e+02] [-1.82303036e-02 9.99833522e-01 7.64430298e-04 -9.00641428e+00] [ 9.67767352e-03 -5.88065340e-04 9.99952997e-01 -2.39596469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782414037 meters 0.08093700390926223 Centerline is valid? [True, True] Translation: X:120.64, Y:-9.01, Z:-2.39 [[ 9.99793016e-01 1.96429086e-02 -5.29908745e-03 1.20643230e+02] [-1.96409608e-02 9.99807010e-01 4.19368787e-04 -9.00798800e+00] [ 5.30630241e-03 -3.15202815e-04 9.99985872e-01 -2.39179016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84241403699998 meters 0.08210719021925147 Centerline is valid? [True, True] Translation: X:120.70, Y:-9.01, Z:-2.39 [[ 9.99791556e-01 1.96497447e-02 -5.54367215e-03 1.20700183e+02] [-1.96476329e-02 9.99806872e-01 4.35131203e-04 -9.01443835e+00] [ 5.55115173e-03 -3.26120467e-04 9.99984539e-01 -2.39381567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90241403699999 meters 0.08245260042422685 Centerline is valid? [True, True] Translation: X:120.76, Y:-9.02, Z:-2.40 [[ 9.99779360e-01 1.96090958e-02 -7.53093971e-03 1.20758425e+02] [-1.96051822e-02 9.99807624e-01 5.93146410e-04 -9.01790857e+00] [ 7.54112200e-03 -4.45370092e-04 9.99971466e-01 -2.39599234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96241403699999 meters 0.08316083976219907 Centerline is valid? [True, True] Translation: X:120.82, Y:-9.03, Z:-2.40 [[ 9.99824402e-01 1.80730485e-02 -4.95287043e-03 1.20816994e+02] [-1.80713396e-02 9.99836624e-01 3.89577035e-04 -9.02610002e+00] [ 4.95910209e-03 -3.00003623e-04 9.99987659e-01 -2.39703943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02241403699999 meters 0.0838848023851907 Centerline is valid? [True, True] Translation: X:120.88, Y:-9.03, Z:-2.40 [[ 9.99845557e-01 1.71360992e-02 -3.90071510e-03 1.20875908e+02] [-1.71350340e-02 9.99853138e-01 3.06337822e-04 -9.03170913e+00] [ 3.90539166e-03 -2.39451625e-04 9.99992345e-01 -2.39779088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08241403699999 meters 0.08009695357544297 Centerline is valid? [True, True] Translation: X:120.94, Y:-9.03, Z:-2.40 [[ 9.99840445e-01 1.71222374e-02 -5.09051301e-03 1.20935528e+02] [-1.71204235e-02 9.99853355e-01 3.99692435e-04 -9.02672602e+00] [ 5.09661014e-03 -3.12476923e-04 9.99986963e-01 -2.39513975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142414037 meters 0.08033513170737293 Centerline is valid? [True, True] Translation: X:120.99, Y:-9.03, Z:-2.40 [[ 9.99823767e-01 1.74968914e-02 -6.80398836e-03 1.20993704e+02] [-1.74936598e-02 9.99846832e-01 5.34193318e-04 -9.03333167e+00] [ 6.81229293e-03 -4.15072518e-04 9.99976710e-01 -2.39840076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20241403699998 meters 0.08042740333285402 Centerline is valid? [True, True] Translation: X:121.05, Y:-9.04, Z:-2.40 [[ 9.99792788e-01 1.72724389e-02 -1.07723279e-02 1.21053361e+02] [-1.72643145e-02 9.99850602e-01 8.46735743e-04 -9.03798795e+00] [ 1.07853437e-02 -6.60583433e-04 9.99941618e-01 -2.40123680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26241403699999 meters 0.07926594396557063 Centerline is valid? [True, True] Translation: X:121.11, Y:-9.04, Z:-2.40 [[ 9.99733442e-01 1.95711821e-02 -1.22480480e-02 1.21112715e+02] [-1.95609253e-02 9.99808209e-01 9.56671299e-04 -9.03782729e+00] [ 1.22644221e-02 -7.16833138e-04 9.99924532e-01 -2.40187899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32241403699999 meters 0.0802424471584707 Centerline is valid? [True, True] Translation: X:121.17, Y:-9.04, Z:-2.41 [[ 9.99605401e-01 2.46620555e-02 -1.34470978e-02 1.21171858e+02] [-2.46500997e-02 9.99695584e-01 1.05414368e-03 -9.04392128e+00] [ 1.34690017e-02 -7.22255412e-04 9.99909028e-01 -2.40991278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38241403699999 meters 0.0776146357420012 Centerline is valid? [True, True] Translation: X:121.23, Y:-9.04, Z:-2.40 [[ 9.99568322e-01 2.74531301e-02 -1.04639965e-02 1.21232973e+02] [-2.74460428e-02 9.99622950e-01 8.20333445e-04 -9.04095614e+00] [ 1.04825718e-02 -5.32784029e-04 9.99944914e-01 -2.40458223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44241403699999 meters 0.07680408376948238 Centerline is valid? [True, True] Translation: X:121.29, Y:-9.04, Z:-2.40 [[ 9.99597227e-01 2.73603606e-02 -7.53614595e-03 1.21292098e+02] [-2.73566942e-02 9.99625562e-01 5.89179832e-04 -9.04174198e+00] [ 7.54944431e-03 -3.82778487e-04 9.99971429e-01 -2.39881083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502414037 meters 0.07745747471277357 Centerline is valid? [True, True] Translation: X:121.35, Y:-9.05, Z:-2.40 [[ 9.99691190e-01 2.28432158e-02 -9.78327589e-03 1.21352010e+02] [-2.28368055e-02 9.99738912e-01 7.66450840e-04 -9.05005764e+00] [ 9.79822980e-03 -5.42795383e-04 9.99951849e-01 -2.40030068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562414037 meters 0.08149446164739309 Centerline is valid? [True, True] Translation: X:121.41, Y:-9.07, Z:-2.41 [[ 9.99732446e-01 1.66201263e-02 -1.60875201e-02 1.21409883e+02] [-1.66019977e-02 9.99861384e-01 1.25977802e-03 -9.06852008e+00] [ 1.61062277e-02 -9.92355991e-04 9.99869794e-01 -2.41093395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62241403699998 meters 0.07939432379303117 Centerline is valid? [True, True] Translation: X:121.47, Y:-9.07, Z:-2.41 [[ 9.99719343e-01 1.69178611e-02 -1.65837903e-02 1.21468837e+02] [-1.68986716e-02 9.99856367e-01 1.29658229e-03 -9.06653171e+00] [ 1.66033437e-02 -1.01597437e-03 9.99861639e-01 -2.40927991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68241403699999 meters 0.08104120611388253 Centerline is valid? [True, True] Translation: X:121.53, Y:-9.07, Z:-2.41 [[ 9.99699423e-01 1.93278907e-02 -1.50830097e-02 1.21526942e+02] [-1.93122991e-02 9.99812805e-01 1.17870046e-03 -9.07492836e+00] [ 1.51029681e-02 -8.87058578e-04 9.99885550e-01 -2.41207275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74241403699999 meters 0.07743526957646883 Centerline is valid? [True, True] Translation: X:121.59, Y:-9.07, Z:-2.41 [[ 9.99592112e-01 2.49995811e-02 -1.38068924e-02 1.21587369e+02] [-2.49870561e-02 9.99687193e-01 1.07894226e-03 -9.07248931e+00] [ 1.38295466e-02 -7.33508583e-04 9.99904098e-01 -2.41028129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80241403699999 meters 0.07692982906591476 Centerline is valid? [True, True] Translation: X:121.65, Y:-9.08, Z:-2.41 [[ 9.99491032e-01 2.82746480e-02 -1.47722971e-02 1.21647430e+02] [-2.82606802e-02 9.99599922e-01 1.15347896e-03 -9.07561648e+00] [ 1.47990012e-02 -7.35416716e-04 9.99890218e-01 -2.41022109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862414037 meters 0.07569099710880968 Centerline is valid? [True, True] Translation: X:121.71, Y:-9.08, Z:-2.41 [[ 9.99411362e-01 3.13627342e-02 -1.39035437e-02 1.21707467e+02] [-3.13506563e-02 9.99507858e-01 1.08585065e-03 -9.07645079e+00] [ 1.39307564e-02 -6.49326256e-04 9.99902751e-01 -2.40782562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922414037 meters 0.07538682965357951 Centerline is valid? [True, True] Translation: X:121.77, Y:-9.08, Z:-2.41 [[ 9.99242556e-01 3.57855462e-02 -1.52875660e-02 1.21767279e+02] [-3.57714765e-02 9.99359284e-01 1.19287629e-03 -9.08069274e+00] [ 1.53204588e-02 -6.45113945e-04 9.99882427e-01 -2.41035860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98241403699998 meters 0.07419842513147977 Centerline is valid? [True, True] Translation: X:121.83, Y:-9.08, Z:-2.41 [[ 9.99045604e-01 4.07005925e-02 -1.58537732e-02 1.21827024e+02] [-4.06860848e-02 9.99171213e-01 1.23669404e-03 -9.08044810e+00] [ 1.58909679e-02 -5.90485782e-04 9.99873556e-01 -2.40940304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042414037 meters 0.07403454860305689 Centerline is valid? [True, True] Translation: X:121.89, Y:-9.09, Z:-2.41 [[ 9.98981196e-01 4.20778628e-02 -1.63102102e-02 1.21885304e+02] [-4.20628157e-02 9.99114168e-01 1.26466419e-03 -9.08533144e+00] [ 1.63489764e-02 -5.77322379e-04 9.99866180e-01 -2.41066896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102414037 meters 0.07427156238856944 Centerline is valid? [True, True] Translation: X:121.94, Y:-9.10, Z:-2.41 [[ 9.99076310e-01 4.06465289e-02 -1.39422598e-02 1.21942781e+02] [-4.06354500e-02 9.99173458e-01 1.07711852e-03 -9.09808047e+00] [ 1.39745170e-02 -5.09573593e-04 9.99902222e-01 -2.41110769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162414037 meters 0.07441215526619316 Centerline is valid? [True, True] Translation: X:122.00, Y:-9.10, Z:-2.41 [[ 9.99134227e-01 3.95003680e-02 -1.30582186e-02 1.22000688e+02] [-3.94905499e-02 9.99219435e-01 1.00896765e-03 -9.10490507e+00] [ 1.30878804e-02 -4.92417881e-04 9.99914229e-01 -2.40899484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222414037 meters 0.07493889650988592 Centerline is valid? [True, True] Translation: X:122.06, Y:-9.11, Z:-2.41 [[ 9.99090935e-01 3.96730492e-02 -1.55997735e-02 1.22058938e+02] [-3.96591377e-02 9.99212546e-01 1.20024566e-03 -9.11155391e+00] [ 1.56351068e-02 -5.80480987e-04 9.99877596e-01 -2.41196818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282414037 meters 0.07537742901598536 Centerline is valid? [True, True] Translation: X:122.12, Y:-9.13, Z:-2.42 [[ 9.99071139e-01 3.86619682e-02 -1.90292135e-02 1.22118641e+02] [-3.86409847e-02 9.99252078e-01 1.46929164e-03 -9.12521775e+00] [ 1.90717868e-02 -7.32619325e-04 9.99817849e-01 -2.41787198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342414037 meters 0.07653609649633251 Centerline is valid? [True, True] Translation: X:122.18, Y:-9.14, Z:-2.42 [[ 9.99112456e-01 3.82062304e-02 -1.77365067e-02 1.22175762e+02] [-3.81879832e-02 9.99269639e-01 1.36646434e-03 -9.13783675e+00] [ 1.77757600e-02 -6.87930127e-04 9.99841762e-01 -2.42190925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402414037 meters 0.07374192946209616 Centerline is valid? [True, True] Translation: X:122.24, Y:-9.13, Z:-2.41 [[ 9.99058495e-01 4.11191991e-02 -1.38324239e-02 1.22236864e+02] [-4.11083665e-02 9.99154124e-01 1.06667344e-03 -9.13477158e+00] [ 1.38645842e-02 -4.97040813e-04 9.99903758e-01 -2.41262712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462414037 meters 0.07399751003028082 Centerline is valid? [True, True] Translation: X:122.29, Y:-9.15, Z:-2.42 [[ 9.98984111e-01 4.24204625e-02 -1.52069326e-02 1.22293481e+02] [-4.24076597e-02 9.99099713e-01 1.16353040e-03 -9.14788298e+00] [ 1.52425995e-02 -5.17457960e-04 9.99883691e-01 -2.41635474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52241403699998 meters 0.07352904266890452 Centerline is valid? [True, True] Translation: X:122.35, Y:-9.15, Z:-2.42 [[ 9.98992113e-01 4.24953479e-02 -1.44534889e-02 1.22351716e+02] [-4.24838371e-02 9.99096546e-01 1.10264525e-03 -9.15323233e+00] [ 1.44872882e-02 -4.87494243e-04 9.99894935e-01 -2.41565947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58241403699998 meters 0.07418090719289851 Centerline is valid? [True, True] Translation: X:122.41, Y:-9.17, Z:-2.42 [[ 9.99012399e-01 4.13124498e-02 -1.63556486e-02 1.22408964e+02] [-4.12975068e-02 9.99146112e-01 1.25046918e-03 -9.16585759e+00] [ 1.63933427e-02 -5.73786703e-04 9.99865455e-01 -2.41954023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64241403699998 meters 0.07434761472948696 Centerline is valid? [True, True] Translation: X:122.47, Y:-9.18, Z:-2.42 [[ 9.99134219e-01 3.85833976e-02 -1.55606753e-02 1.22466859e+02] [-3.85696505e-02 9.99255214e-01 1.18269966e-03 -9.17623479e+00] [ 1.55947185e-02 -5.81505898e-04 9.99878226e-01 -2.42064337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70241403699998 meters 0.07507194753983074 Centerline is valid? [True, True] Translation: X:122.52, Y:-9.19, Z:-2.42 [[ 9.99279326e-01 3.59663609e-02 -1.21346744e-02 1.22523457e+02] [-3.59578135e-02 9.99352884e-01 9.21887870e-04 -9.18947679e+00] [ 1.21599788e-02 -4.84887129e-04 9.99925947e-01 -2.42201827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76241403699999 meters 0.07475892403807653 Centerline is valid? [True, True] Translation: X:122.58, Y:-9.20, Z:-2.42 [[ 9.99307094e-01 3.53804747e-02 -1.15565528e-02 1.22581047e+02] [-3.53726931e-02 9.99373806e-01 8.77121250e-04 -9.19529467e+00] [ 1.15803491e-02 -4.67727093e-04 9.99932836e-01 -2.42170078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822414037 meters 0.07515270837489102 Centerline is valid? [True, True] Translation: X:122.64, Y:-9.21, Z:-2.42 [[ 9.99398762e-01 3.28007362e-02 -1.12350272e-02 1.22639966e+02] [-3.27932095e-02 9.99461794e-01 8.53548168e-04 -9.20721862e+00] [ 1.12569774e-02 -4.84602383e-04 9.99936521e-01 -2.42273589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882414037 meters 0.07534982325223927 Centerline is valid? [True, True] Translation: X:122.70, Y:-9.22, Z:-2.42 [[ 9.99420221e-01 3.14910498e-02 -1.29435211e-02 1.22698967e+02] [-3.14809547e-02 9.99503869e-01 9.82992278e-04 -9.21549111e+00] [ 1.29680549e-02 -5.74947958e-04 9.99915746e-01 -2.42402247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942414037 meters 0.07518367226237124 Centerline is valid? [True, True] Translation: X:122.76, Y:-9.23, Z:-2.42 [[ 9.99460268e-01 2.99169399e-02 -1.35701471e-02 1.22757833e+02] [-2.99057051e-02 9.99552194e-01 1.03011880e-03 -9.22647184e+00] [ 1.35948883e-02 -6.23737998e-04 9.99907391e-01 -2.42482141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002414037 meters 0.07519509974426383 Centerline is valid? [True, True] Translation: X:122.82, Y:-9.23, Z:-2.43 [[ 9.99456127e-01 3.03991653e-02 -1.27804843e-02 1.22816705e+02] [-3.03893219e-02 9.99537673e-01 9.63733468e-04 -9.23394465e+00] [ 1.28038722e-02 -5.74819069e-04 9.99917862e-01 -2.42621738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062414037 meters 0.0759665521016981 Centerline is valid? [True, True] Translation: X:122.87, Y:-9.24, Z:-2.43 [[ 9.99369500e-01 3.17805113e-02 -1.58303809e-02 1.22873765e+02] [-3.17655464e-02 9.99494632e-01 1.19594424e-03 -9.24288189e+00] [ 1.58603885e-02 -6.92329494e-04 9.99873976e-01 -2.43191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122414037 meters 0.07544814758135705 Centerline is valid? [True, True] Translation: X:122.93, Y:-9.25, Z:-2.43 [[ 9.99297923e-01 3.42122497e-02 -1.52703114e-02 1.22933509e+02] [-3.41985939e-02 9.99414390e-01 1.15457677e-03 -9.24887284e+00] [ 1.53008696e-02 -6.31542992e-04 9.99882735e-01 -2.43268474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182414037 meters 0.07463477807460316 Centerline is valid? [True, True] Translation: X:122.99, Y:-9.26, Z:-2.43 [[ 9.99283442e-01 3.57422817e-02 -1.24535913e-02 1.22993567e+02] [-3.57333215e-02 9.99360918e-01 9.41327047e-04 -9.25561268e+00] [ 1.24792776e-02 -4.95644351e-04 9.99922008e-01 -2.43112237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242414037 meters 0.07394432492518223 Centerline is valid? [True, True] Translation: X:123.05, Y:-9.26, Z:-2.43 [[ 9.99175021e-01 3.84960058e-02 -1.29358013e-02 1.23052012e+02] [-3.84865927e-02 9.99258640e-01 9.75925391e-04 -9.26163952e+00] [ 1.29637805e-02 -4.77265356e-04 9.99915853e-01 -2.42957474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30241403699998 meters 0.07411969527965158 Centerline is valid? [True, True] Translation: X:123.11, Y:-9.27, Z:-2.43 [[ 9.99117364e-01 3.98945664e-02 -1.31497652e-02 1.23109561e+02] [-3.98849787e-02 9.99203787e-01 9.90666124e-04 -9.26847791e+00] [ 1.31788174e-02 -4.65313621e-04 9.99913047e-01 -2.43004940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36241403699998 meters 0.0741837685561625 Centerline is valid? [True, True] Translation: X:123.17, Y:-9.28, Z:-2.43 [[ 9.99105025e-01 4.05930326e-02 -1.18892397e-02 1.23167594e+02] [-4.05852517e-02 9.99175678e-01 8.95090492e-04 -9.27992620e+00] [ 1.19157735e-02 -4.11761625e-04 9.99928920e-01 -2.43134492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42241403699998 meters 0.07483210221442306 Centerline is valid? [True, True] Translation: X:123.23, Y:-9.30, Z:-2.43 [[ 9.99304043e-01 3.53045922e-02 -1.20422550e-02 1.23226993e+02] [-3.52962111e-02 9.99376482e-01 9.07862816e-04 -9.29642303e+00] [ 1.20667982e-02 -4.82185007e-04 9.99927077e-01 -2.43209650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48241403699998 meters 0.07596419188074889 Centerline is valid? [True, True] Translation: X:123.29, Y:-9.31, Z:-2.44 [[ 9.99391481e-01 3.14668051e-02 -1.50501519e-02 1.23286654e+02] [-3.14532823e-02 9.99504579e-01 1.13443339e-03 -9.31053297e+00] [ 1.50783927e-02 -6.60366396e-04 9.99886097e-01 -2.43668119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542414037 meters 0.07792682443556463 Centerline is valid? [True, True] Translation: X:123.34, Y:-9.33, Z:-2.44 [[ 9.99587358e-01 2.48217437e-02 -1.44566786e-02 1.23344944e+02] [-2.48085793e-02 9.99691626e-01 1.08925898e-03 -9.32746834e+00] [ 1.44792579e-02 -7.30159849e-04 9.99894903e-01 -2.43688626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602414037 meters 0.07872578788032353 Centerline is valid? [True, True] Translation: X:123.40, Y:-9.34, Z:-2.44 [[ 9.99684244e-01 2.10036734e-02 -1.37934379e-02 1.23404124e+02] [-2.09913323e-02 9.99779118e-01 1.03889434e-03 -9.34012009e+00] [ 1.38122118e-02 -7.49023661e-04 9.99904326e-01 -2.43798228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662414037 meters 0.07919669995314278 Centerline is valid? [True, True] Translation: X:123.46, Y:-9.35, Z:-2.44 [[ 9.99723393e-01 1.52853126e-02 -1.78744709e-02 1.23463630e+02] [-1.52636800e-02 9.99882597e-01 1.34605933e-03 -9.34962720e+00] [ 1.78929473e-02 -1.07285680e-03 9.99839333e-01 -2.44310819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722414037 meters 0.0789775020980811 Centerline is valid? [True, True] Translation: X:123.52, Y:-9.36, Z:-2.44 [[ 9.99821061e-01 1.45925458e-02 -1.20375631e-02 1.23523572e+02] [-1.45826888e-02 9.99893256e-01 9.06223764e-04 -9.35687561e+00] [ 1.20495022e-02 -7.30521569e-04 9.99927135e-01 -2.44098505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782414037 meters 0.07892222929256412 Centerline is valid? [True, True] Translation: X:123.58, Y:-9.36, Z:-2.44 [[ 9.99810002e-01 1.58276271e-02 -1.13774182e-02 1.23582890e+02] [-1.58189154e-02 9.99874507e-01 8.55294365e-04 -9.35893900e+00] [ 1.13895277e-02 -6.75153445e-04 9.99934909e-01 -2.44037081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842414037 meters 0.07935947230122749 Centerline is valid? [True, True] Translation: X:123.64, Y:-9.36, Z:-2.44 [[ 9.99812404e-01 1.73720080e-02 -8.56558740e-03 1.23641175e+02] [-1.73671324e-02 9.99848973e-01 6.43261339e-04 -9.36364583e+00] [ 8.57546850e-03 -4.94380975e-04 9.99963108e-01 -2.43964733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902414037 meters 0.07881464944874053 Centerline is valid? [True, True] Translation: X:123.70, Y:-9.37, Z:-2.44 [[ 9.99797885e-01 1.75309284e-02 -9.84153611e-03 1.23699838e+02] [-1.75245079e-02 9.99846161e-01 7.38248257e-04 -9.36775717e+00] [ 9.85296428e-03 -5.65630969e-04 9.99951298e-01 -2.44073696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962414037 meters 0.0768961950195607 Centerline is valid? [True, True] Translation: X:123.76, Y:-9.36, Z:-2.44 [[ 9.99778243e-01 1.76224871e-02 -1.15287758e-02 1.23758918e+02] [-1.76136903e-02 9.99844494e-01 8.64126123e-04 -9.36199055e+00] [ 1.15422110e-02 -6.60870211e-04 9.99933168e-01 -2.44085281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02241403699998 meters 0.07642951905208743 Centerline is valid? [True, True] Translation: X:123.82, Y:-9.37, Z:-2.44 [[ 9.99715686e-01 2.16188749e-02 -1.00583793e-02 1.23819195e+02] [-2.16123712e-02 9.99766140e-01 7.54857145e-04 -9.36594760e+00] [ 1.00723462e-02 -5.37257103e-04 9.99949128e-01 -2.44471933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08241403699998 meters 0.0755235972882864 Centerline is valid? [True, True] Translation: X:123.88, Y:-9.36, Z:-2.44 [[ 9.99653924e-01 2.45747827e-02 -9.38677672e-03 1.23879545e+02] [-2.45692587e-02 9.99697883e-01 7.03368330e-04 -9.36459892e+00] [ 9.40122594e-03 -4.72498766e-04 9.99955696e-01 -2.44369747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14241403699998 meters 0.07562456779626836 Centerline is valid? [True, True] Translation: X:123.94, Y:-9.36, Z:-2.44 [[ 9.99584890e-01 2.76800133e-02 -7.99152142e-03 1.23940006e+02] [-2.76761112e-02 9.99616764e-01 5.98479038e-04 -9.36488252e+00] [ 8.00502469e-03 -3.77056368e-04 9.99967888e-01 -2.44332414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20241403699998 meters 0.07616920890644832 Centerline is valid? [True, True] Translation: X:124.00, Y:-9.37, Z:-2.45 [[ 9.99527352e-01 2.97306675e-02 -7.82042750e-03 1.23997808e+02] [-2.97270020e-02 9.99557884e-01 5.84550757e-04 -9.37216168e+00] [ 7.83434905e-03 -3.51796606e-04 9.99969249e-01 -2.44632005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26241403699999 meters 0.07541979513229118 Centerline is valid? [True, True] Translation: X:124.06, Y:-9.37, Z:-2.45 [[ 9.99561200e-01 2.77006166e-02 -1.04920487e-02 1.24058181e+02] [-2.76938947e-02 9.99616142e-01 7.85440081e-04 -9.37343351e+00] [ 1.05097785e-02 -4.94529738e-04 9.99944648e-01 -2.44745197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322414037 meters 0.07596747319841493 Centerline is valid? [True, True] Translation: X:124.12, Y:-9.38, Z:-2.45 [[ 9.99667049e-01 2.44176405e-02 -8.34083105e-03 1.24117280e+02] [-2.44132842e-02 9.99701757e-01 6.23717226e-04 -9.38095469e+00] [ 8.35357316e-03 -4.19882480e-04 9.99965020e-01 -2.44916477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382414037 meters 0.07704605188579439 Centerline is valid? [True, True] Translation: X:124.18, Y:-9.39, Z:-2.45 [[ 9.99706969e-01 2.13910616e-02 -1.13313360e-02 1.24177544e+02] [-2.13828207e-02 9.99771002e-01 8.47931820e-04 -9.38852391e+00] [ 1.13468793e-02 -6.05387423e-04 9.99935439e-01 -2.45173742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442414037 meters 0.07704097905932042 Centerline is valid? [True, True] Translation: X:124.24, Y:-9.39, Z:-2.45 [[ 9.99712394e-01 2.06194950e-02 -1.22460474e-02 1.24236310e+02] [-2.06098361e-02 9.99787177e-01 9.14425050e-04 -9.39182872e+00] [ 1.22622961e-02 -6.61773026e-04 9.99924596e-01 -2.45349624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502414037 meters 0.07753705736934555 Centerline is valid? [True, True] Translation: X:124.29, Y:-9.40, Z:-2.46 [[ 9.99736892e-01 2.02886483e-02 -1.07013093e-02 1.24294915e+02] [-2.02812632e-02 9.99793995e-01 7.98192728e-04 -9.39948241e+00] [ 1.07152990e-02 -5.80946646e-04 9.99942421e-01 -2.45648575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562414037 meters 0.07812903118638811 Centerline is valid? [True, True] Translation: X:124.35, Y:-9.41, Z:-2.46 [[ 9.99746868e-01 1.96233782e-02 -1.10055781e-02 1.24353526e+02] [-1.96155347e-02 9.99807260e-01 8.20182699e-04 -9.40671204e+00] [ 1.10195516e-02 -6.04094785e-04 9.99939100e-01 -2.45991067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622414037 meters 0.07957489986560995 Centerline is valid? [True, True] Translation: X:124.41, Y:-9.42, Z:-2.46 [[ 9.99832056e-01 1.61061331e-02 -8.74365630e-03 1.24410878e+02] [-1.61010557e-02 9.99870158e-01 6.50783727e-04 -9.41779318e+00] [ 8.75300261e-03 -5.09892335e-04 9.99961562e-01 -2.46025344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682414037 meters 0.07905698105651265 Centerline is valid? [True, True] Translation: X:124.47, Y:-9.42, Z:-2.46 [[ 9.99811929e-01 1.63856810e-02 -1.03738449e-02 1.24469428e+02] [-1.63785536e-02 9.99865565e-01 7.71638841e-04 -9.42100554e+00] [ 1.03850941e-02 -6.01585143e-04 9.99945892e-01 -2.46184431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742414037 meters 0.07704162657879567 Centerline is valid? [True, True] Translation: X:124.53, Y:-9.42, Z:-2.46 [[ 9.99735960e-01 2.01556439e-02 -1.10344975e-02 1.24529722e+02] [-2.01477997e-02 9.99796675e-01 8.21591990e-04 -9.42088275e+00] [ 1.10488136e-02 -5.99054212e-04 9.99938781e-01 -2.46207362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80241403699998 meters 0.07635714078214671 Centerline is valid? [True, True] Translation: X:124.59, Y:-9.42, Z:-2.46 [[ 9.99641414e-01 2.55498152e-02 -8.01568024e-03 1.24588450e+02] [-2.55458566e-02 9.99673474e-01 5.95872815e-04 -9.42359981e+00] [ 8.02828735e-03 -3.90891725e-04 9.99967696e-01 -2.46186290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86241403699998 meters 0.07546648379464704 Centerline is valid? [True, True] Translation: X:124.65, Y:-9.42, Z:-2.46 [[ 9.99416507e-01 3.22245098e-02 -1.13237341e-02 1.24648458e+02] [-3.22170347e-02 9.99480542e-01 8.41974777e-04 -9.42200068e+00] [ 1.13449841e-02 -4.76666357e-04 9.99935530e-01 -2.46401160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92241403699998 meters 0.07446209577755036 Centerline is valid? [True, True] Translation: X:124.71, Y:-9.42, Z:-2.46 [[ 9.99320849e-01 3.43558598e-02 -1.33234810e-02 1.24707123e+02] [-3.43457208e-02 9.99409522e-01 9.89117400e-04 -9.42440760e+00] [ 1.33495958e-02 -5.30841081e-04 9.99910749e-01 -2.46423661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98241403699998 meters 0.0742536771948219 Centerline is valid? [True, True] Translation: X:124.77, Y:-9.43, Z:-2.47 [[ 9.99292569e-01 3.54404084e-02 -1.25833198e-02 1.24766043e+02] [-3.54315250e-02 9.99371675e-01 9.28272263e-04 -9.43158514e+00] [ 1.26083117e-02 -4.81769366e-04 9.99920396e-01 -2.46743851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042414037 meters 0.07445333736147285 Centerline is valid? [True, True] Translation: X:124.82, Y:-9.44, Z:-2.47 [[ 9.99297965e-01 3.53793016e-02 -1.23240510e-02 1.24824795e+02] [-3.53707510e-02 9.99373844e-01 9.11157313e-04 -9.43632894e+00] [ 1.23485703e-02 -4.74606710e-04 9.99923641e-01 -2.46831729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102414037 meters 0.07490680316943026 Centerline is valid? [True, True] Translation: X:124.88, Y:-9.44, Z:-2.47 [[ 9.99298939e-01 3.52924910e-02 -1.24928247e-02 1.24880804e+02] [-3.52837544e-02 9.99376912e-01 9.19112538e-04 -9.44497091e+00] [ 1.25174784e-02 -4.77674424e-04 9.99921539e-01 -2.47117256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162414037 meters 0.07519695856327016 Centerline is valid? [True, True] Translation: X:124.94, Y:-9.45, Z:-2.47 [[ 9.99388127e-01 3.29000507e-02 -1.18725789e-02 1.24939288e+02] [-3.28919770e-02 9.99458530e-01 8.74704612e-04 -9.45355525e+00] [ 1.18949281e-02 -4.83656811e-04 9.99929136e-01 -2.47115726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222414037 meters 0.07580874370097623 Centerline is valid? [True, True] Translation: X:125.00, Y:-9.46, Z:-2.47 [[ 9.99494150e-01 2.97596099e-02 -1.12164620e-02 1.24997964e+02] [-2.97522101e-02 9.99556964e-01 8.26050845e-04 -9.46430949e+00] [ 1.12360756e-02 -4.91918454e-04 9.99936752e-01 -2.47265158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282414037 meters 0.07506634789120127 Centerline is valid? [True, True] Translation: X:125.06, Y:-9.47, Z:-2.47 [[ 9.99583077e-01 2.77457481e-02 -7.99040030e-03 1.25056593e+02] [-2.77419382e-02 9.99614946e-01 5.87275614e-04 -9.47047782e+00] [ 8.00361797e-03 -3.65361574e-04 9.99967904e-01 -2.46889065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342414037 meters 0.07509419640114151 Centerline is valid? [True, True] Translation: X:125.11, Y:-9.48, Z:-2.47 [[ 9.99570593e-01 2.73565769e-02 -1.04998262e-02 1.25114701e+02] [-2.73499984e-02 9.99625623e-01 7.69639879e-04 -9.47665990e+00] [ 1.05169501e-02 -4.82139160e-04 9.99944579e-01 -2.47052510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402414037 meters 0.07622382480247322 Centerline is valid? [True, True] Translation: X:125.17, Y:-9.49, Z:-2.48 [[ 9.99559341e-01 2.71473609e-02 -1.20060230e-02 1.25171065e+02] [-2.71387673e-02 9.99631290e-01 8.78148525e-04 -9.48939363e+00] [ 1.20254357e-02 -5.51932896e-04 9.99927540e-01 -2.47667338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462414037 meters 0.07566399926240576 Centerline is valid? [True, True] Translation: X:125.23, Y:-9.49, Z:-2.48 [[ 9.99559663e-01 2.68025891e-02 -1.27319107e-02 1.25229755e+02] [-2.67928869e-02 9.99640572e-01 9.32028309e-04 -9.49433926e+00] [ 1.27523152e-02 -5.90493261e-04 9.99918512e-01 -2.47616581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52241403699998 meters 0.07572024874669622 Centerline is valid? [True, True] Translation: X:125.29, Y:-9.50, Z:-2.48 [[ 9.99525450e-01 2.75242714e-02 -1.38307600e-02 1.25287187e+02] [-2.75129183e-02 9.99620937e-01 1.01050045e-03 -9.49890292e+00] [ 1.38533305e-02 -6.29496352e-04 9.99903840e-01 -2.47775807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58241403699998 meters 0.0752576717659229 Centerline is valid? [True, True] Translation: X:125.35, Y:-9.51, Z:-2.48 [[ 9.99546374e-01 2.88357294e-02 -8.69174863e-03 1.25347276e+02] [-2.88312890e-02 9.99584090e-01 6.35770060e-04 -9.50501757e+00] [ 8.70646653e-03 -3.84887341e-04 9.99962024e-01 -2.47540109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64241403699998 meters 0.075651763952252 Centerline is valid? [True, True] Translation: X:125.40, Y:-9.51, Z:-2.48 [[ 9.99509010e-01 2.92567391e-02 -1.12152793e-02 1.25404713e+02] [-2.92493963e-02 9.99571810e-01 8.18216704e-04 -9.51317602e+00] [ 1.12344154e-02 -4.89774817e-04 9.99936772e-01 -2.47930873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70241403699998 meters 0.07590734091690302 Centerline is valid? [True, True] Translation: X:125.46, Y:-9.52, Z:-2.48 [[ 9.99568533e-01 2.64845832e-02 -1.27009913e-02 1.25464310e+02] [-2.64749266e-02 9.99649047e-01 9.27864827e-04 -9.51996453e+00] [ 1.27211080e-02 -5.91206670e-04 9.99918909e-01 -2.47992621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76241403699999 meters 0.07638364251936589 Centerline is valid? [True, True] Translation: X:125.52, Y:-9.53, Z:-2.48 [[ 9.99691906e-01 2.19100890e-02 -1.16636466e-02 1.25523509e+02] [-2.19016376e-02 9.99759767e-01 8.51850505e-04 -9.53143925e+00] [ 1.16795087e-02 -5.96135095e-04 9.99931615e-01 -2.47924633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822414037 meters 0.07796333006442402 Centerline is valid? [True, True] Translation: X:125.58, Y:-9.54, Z:-2.49 [[ 9.99711288e-01 1.99457059e-02 -1.33981005e-02 1.25581029e+02] [-1.99344069e-02 9.99800813e-01 9.76358037e-04 -9.54275643e+00] [ 1.34149059e-02 -7.08992964e-04 9.99909765e-01 -2.48526144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882414037 meters 0.07686436145002244 Centerline is valid? [True, True] Translation: X:125.64, Y:-9.55, Z:-2.48 [[ 9.99792869e-01 1.67425741e-02 -1.15717126e-02 1.25640085e+02] [-1.67339297e-02 9.99859622e-01 8.43456288e-04 -9.55022569e+00] [ 1.15842098e-02 -6.49641357e-04 9.99932690e-01 -2.48423399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942414037 meters 0.07685570364342283 Centerline is valid? [True, True] Translation: X:125.70, Y:-9.55, Z:-2.48 [[ 9.99823413e-01 1.62719183e-02 -9.40041442e-03 1.25698851e+02] [-1.62662066e-02 9.99867463e-01 6.83742587e-04 -9.55454224e+00] [ 9.41029432e-03 -5.30712764e-04 9.99955581e-01 -2.48330136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002414037 meters 0.07729077053690482 Centerline is valid? [True, True] Translation: X:125.76, Y:-9.56, Z:-2.49 [[ 9.99784709e-01 1.62220763e-02 -1.29375594e-02 1.25757703e+02] [-1.62112511e-02 9.99868146e-01 9.41166038e-04 -9.55961733e+00] [ 1.29511212e-02 -7.31229389e-04 9.99915863e-01 -2.48706073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062414037 meters 0.0776799860675559 Centerline is valid? [True, True] Translation: X:125.82, Y:-9.57, Z:-2.49 [[ 9.99826772e-01 1.49404676e-02 -1.10999341e-02 1.25815902e+02] [-1.49324344e-02 9.99888180e-01 8.06242791e-04 -9.56668318e+00] [ 1.11107386e-02 -6.40354089e-04 9.99938069e-01 -2.48865943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122414037 meters 0.0773949256164966 Centerline is valid? [True, True] Translation: X:125.88, Y:-9.57, Z:-2.49 [[ 9.99859362e-01 1.51919974e-02 -7.10350780e-03 1.25875584e+02] [-1.51887144e-02 9.99884512e-01 5.15896462e-04 -9.57010848e+00] [ 7.11052493e-03 -4.07930756e-04 9.99974637e-01 -2.48644716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182414037 meters 0.07710303701159225 Centerline is valid? [True, True] Translation: X:125.93, Y:-9.57, Z:-2.49 [[ 9.99814922e-01 1.73888573e-02 -8.23099729e-03 1.25934506e+02] [-1.73845326e-02 9.99848700e-01 5.96678500e-04 -9.57282262e+00] [ 8.24012750e-03 -4.53476027e-04 9.99965947e-01 -2.48745278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242414037 meters 0.07780903970931224 Centerline is valid? [True, True] Translation: X:125.99, Y:-9.58, Z:-2.50 [[ 9.99650919e-01 2.04368264e-02 -1.67444662e-02 1.25992883e+02] [-2.04193400e-02 9.99790766e-01 1.21463192e-03 -9.57630912e+00] [ 1.67657859e-02 -8.72296967e-04 9.99859064e-01 -2.49673210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30241403699998 meters 0.0760493965320114 Centerline is valid? [True, True] Translation: X:126.05, Y:-9.58, Z:-2.49 [[ 9.99640162e-01 2.24026711e-02 -1.47535554e-02 1.26052827e+02] [-2.23893060e-02 9.99748755e-01 1.07046015e-03 -9.57720632e+00] [ 1.47738298e-02 -7.39753086e-04 9.99890587e-01 -2.49470932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36241403699998 meters 0.07479419690091939 Centerline is valid? [True, True] Translation: X:126.11, Y:-9.58, Z:-2.49 [[ 9.99591575e-01 2.65219969e-02 -1.06426803e-02 1.26113277e+02] [-2.65152739e-02 9.99648110e-01 7.72335926e-04 -9.58038587e+00] [ 1.06594192e-02 -4.89826901e-04 9.99943067e-01 -2.49265155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42241403699998 meters 0.07539040374492867 Centerline is valid? [True, True] Translation: X:126.17, Y:-9.59, Z:-2.50 [[ 9.99555663e-01 2.65647067e-02 -1.35201037e-02 1.26170816e+02] [-2.65539154e-02 9.99646905e-01 9.77085877e-04 -9.58647532e+00] [ 1.35412858e-02 -6.17640032e-04 9.99908122e-01 -2.49524589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48241403699998 meters 0.07506153297817489 Centerline is valid? [True, True] Translation: X:126.23, Y:-9.59, Z:-2.49 [[ 9.99607087e-01 2.51772217e-02 -1.23198399e-02 1.26229497e+02] [-2.51681566e-02 9.99682835e-01 8.90330215e-04 -9.59071257e+00] [ 1.23383486e-02 -5.79912733e-04 9.99923712e-01 -2.49381794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542414037 meters 0.07557243902691811 Centerline is valid? [True, True] Translation: X:126.29, Y:-9.60, Z:-2.49 [[ 9.99706495e-01 2.14192683e-02 -1.13198286e-02 1.26287850e+02] [-2.14113791e-02 9.99770416e-01 8.17687308e-04 -9.60287157e+00] [ 1.13347440e-02 -5.75074173e-04 9.99935594e-01 -2.49436971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602414037 meters 0.07593708484425032 Centerline is valid? [True, True] Translation: X:126.35, Y:-9.61, Z:-2.49 [[ 9.99735159e-01 1.98749826e-02 -1.16015641e-02 1.26346689e+02] [-1.98665989e-02 9.99802289e-01 8.37450780e-04 -9.60887991e+00] [ 1.16159147e-02 -6.06745367e-04 9.99932349e-01 -2.49454962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662414037 meters 0.07839750974528617 Centerline is valid? [True, True] Translation: X:126.41, Y:-9.62, Z:-2.50 [[ 9.99748288e-01 1.66592474e-02 -1.50276430e-02 1.26405644e+02] [-1.66447980e-02 9.99860876e-01 1.08609357e-03 -9.61973213e+00] [ 1.50436458e-02 -8.35688103e-04 9.99886489e-01 -2.50027579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722414037 meters 0.07783945445457384 Centerline is valid? [True, True] Translation: X:126.47, Y:-9.62, Z:-2.50 [[ 9.99728222e-01 1.24990338e-02 -1.96788474e-02 1.26466073e+02] [-1.24734589e-02 9.99921193e-01 1.42182835e-03 -9.62302434e+00] [ 1.96950680e-02 -1.17597863e-03 9.99805342e-01 -2.50324499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782414037 meters 0.07819141053910975 Centerline is valid? [True, True] Translation: X:126.52, Y:-9.63, Z:-2.50 [[ 9.99872347e-01 8.58379915e-03 -1.34761817e-02 1.26524114e+02] [-8.57148130e-03 9.99962792e-01 9.71539647e-04 -9.63421437e+00] [ 1.34840198e-02 -8.55904788e-04 9.99908720e-01 -2.50017916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842414037 meters 0.07815239316921238 Centerline is valid? [True, True] Translation: X:126.58, Y:-9.64, Z:-2.50 [[ 9.99875192e-01 7.59194428e-03 -1.38550768e-02 1.26582529e+02] [-7.57885036e-03 9.99970783e-01 9.97324341e-04 -9.63561709e+00] [ 1.38622436e-02 -8.92194314e-04 9.99903516e-01 -2.49956124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902414037 meters 0.07927073005428974 Centerline is valid? [True, True] Translation: X:126.64, Y:-9.64, Z:-2.50 [[ 9.99835167e-01 6.56108991e-03 -1.69289891e-02 1.26640938e+02] [-6.54138045e-03 9.99977862e-01 1.21935509e-03 -9.64180882e+00] [ 1.69366146e-02 -1.10841514e-03 9.99855951e-01 -2.50227164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962414037 meters 0.07864328931624118 Centerline is valid? [True, True] Translation: X:126.70, Y:-9.65, Z:-2.50 [[ 9.99796770e-01 7.23825807e-03 -1.88156047e-02 1.26700015e+02] [-7.21406574e-03 9.99973063e-01 1.35331643e-03 -9.64549679e+00] [ 1.88248935e-02 -1.21730438e-03 9.99822055e-01 -2.50453521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02241403699998 meters 0.07890291664264647 Centerline is valid? [True, True] Translation: X:126.76, Y:-9.65, Z:-2.51 [[ 9.99781080e-01 1.05303706e-02 -1.80804564e-02 1.26759681e+02] [-1.05085606e-02 9.99943937e-01 1.30086275e-03 -9.64854229e+00] [ 1.80931413e-02 -1.11057839e-03 9.99835689e-01 -2.50698528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08241403699998 meters 0.0768043438495939 Centerline is valid? [True, True] Translation: X:126.82, Y:-9.64, Z:-2.50 [[ 9.99772085e-01 1.42100017e-02 -1.59328019e-02 1.26821245e+02] [-1.41935173e-02 9.99898609e-01 1.14722587e-03 -9.64340484e+00] [ 1.59474886e-02 -9.20821897e-04 9.99872407e-01 -2.50261708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14241403699998 meters 0.07635277433722518 Centerline is valid? [True, True] Translation: X:126.88, Y:-9.64, Z:-2.51 [[ 9.99622144e-01 1.98511493e-02 -1.90132025e-02 1.26880870e+02] [-1.98287221e-02 9.99802457e-01 1.36736952e-03 -9.64436821e+00] [ 1.90365904e-02 -9.89845341e-04 9.99818298e-01 -2.50551378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20241403699998 meters 0.07632718400439988 Centerline is valid? [True, True] Translation: X:126.94, Y:-9.64, Z:-2.51 [[ 9.99409531e-01 2.44903631e-02 -2.41000154e-02 1.26939531e+02] [-2.44559038e-02 9.99699424e-01 1.72358816e-03 -9.64385783e+00] [ 2.41349828e-02 -1.13318277e-03 9.99708067e-01 -2.51176576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26241403699999 meters 0.07552287952140477 Centerline is valid? [True, True] Translation: X:127.00, Y:-9.64, Z:-2.51 [[ 9.99343633e-01 2.76195515e-02 -2.34406376e-02 1.26999988e+02] [-2.75877255e-02 9.99617974e-01 1.68008354e-03 -9.64246687e+00] [ 2.34780858e-02 -1.03230691e-03 9.99723819e-01 -2.51208436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322414037 meters 0.07535465386061721 Centerline is valid? [True, True] Translation: X:127.06, Y:-9.65, Z:-2.51 [[ 9.99339285e-01 2.95410319e-02 -2.11735979e-02 1.27059914e+02] [-2.95155043e-02 9.99563171e-01 1.51719679e-03 -9.64568090e+00] [ 2.12091682e-02 -8.91244932e-04 9.99774663e-01 -2.51192551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382414037 meters 0.0747037791618237 Centerline is valid? [True, True] Translation: X:127.12, Y:-9.65, Z:-2.51 [[ 9.99290041e-01 3.19847325e-02 -1.99095822e-02 1.27120120e+02] [-3.19626538e-02 9.99488046e-01 1.42625830e-03 -9.65073966e+00] [ 1.99450079e-02 -7.88882632e-04 9.99800767e-01 -2.50922111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442414037 meters 0.07450680460160128 Centerline is valid? [True, True] Translation: X:127.18, Y:-9.65, Z:-2.51 [[ 9.99204376e-01 3.32756280e-02 -2.19851563e-02 1.27178971e+02] [-3.32492256e-02 9.99445866e-01 1.56546741e-03 -9.65378953e+00] [ 2.20250654e-02 -8.33232462e-04 9.99757072e-01 -2.50999970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502414037 meters 0.07370009165496087 Centerline is valid? [True, True] Translation: X:127.24, Y:-9.65, Z:-2.51 [[ 9.98921473e-01 4.05244076e-02 -2.26641528e-02 1.27239132e+02] [-4.04981227e-02 9.99178305e-01 1.61773179e-03 -9.65486780e+00] [ 2.27110874e-02 -6.98131388e-04 9.99741826e-01 -2.50994295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562414037 meters 0.07308279567745053 Centerline is valid? [True, True] Translation: X:127.30, Y:-9.66, Z:-2.51 [[ 9.98718731e-01 4.54000450e-02 -2.23547099e-02 1.27298568e+02] [-4.53757185e-02 9.98968719e-01 1.59451350e-03 -9.66070520e+00] [ 2.24040469e-02 -5.78109476e-04 9.99748831e-01 -2.51136579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622414037 meters 0.07262995448042796 Centerline is valid? [True, True] Translation: X:127.36, Y:-9.67, Z:-2.51 [[ 9.98323068e-01 5.25531778e-02 -2.42737661e-02 1.27356746e+02] [-5.25266630e-02 9.98618025e-01 1.72907856e-03 -9.66692557e+00] [ 2.43310889e-02 -4.51159081e-04 9.99703853e-01 -2.51361638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682414037 meters 0.07236180992088485 Centerline is valid? [True, True] Translation: X:127.42, Y:-9.67, Z:-2.51 [[ 9.98002871e-01 5.75995636e-02 -2.59337750e-02 1.27415536e+02] [-5.75712501e-02 9.98339709e-01 1.83770544e-03 -9.67060079e+00] [ 2.59965684e-02 -3.40995453e-04 9.99661974e-01 -2.51454407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742414037 meters 0.07198326300709021 Centerline is valid? [True, True] Translation: X:127.47, Y:-9.69, Z:-2.52 [[ 9.97889048e-01 6.15198088e-02 -2.08029303e-02 1.27474719e+02] [-6.15023714e-02 9.98105844e-01 1.47757147e-03 -9.68561672e+00] [ 2.08544262e-02 -1.95022838e-04 9.99782504e-01 -2.51606419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80241403699998 meters 0.07123653763406146 Centerline is valid? [True, True] Translation: X:127.53, Y:-9.70, Z:-2.51 [[ 9.97881102e-01 6.29201577e-02 -1.65638416e-02 1.27534215e+02] [-6.29093050e-02 9.98018555e-01 1.17595474e-03 -9.69723743e+00] [ 1.66050125e-02 -1.31443245e-04 9.99862119e-01 -2.51374313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86241403699998 meters 0.07092839800032028 Centerline is valid? [True, True] Translation: X:127.59, Y:-9.71, Z:-2.51 [[ 9.97838149e-01 6.35781461e-02 -1.66387255e-02 1.27591526e+02] [-6.35674454e-02 9.97976857e-01 1.17174408e-03 -9.70837723e+00] [ 1.66795603e-02 -1.11529671e-04 9.99860880e-01 -2.51174408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92241403699998 meters 0.0712062573130408 Centerline is valid? [True, True] Translation: X:127.65, Y:-9.72, Z:-2.52 [[ 9.97935129e-01 6.18234676e-02 -1.74165513e-02 1.27648265e+02] [-6.18114352e-02 9.98087089e-01 1.22884206e-03 -9.72427262e+00] [ 1.74592063e-02 -1.49762628e-04 9.99847565e-01 -2.51918016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98241403699998 meters 0.07106787573435759 Centerline is valid? [True, True] Translation: X:127.71, Y:-9.75, Z:-2.52 [[ 9.98394625e-01 5.42051405e-02 -1.64309357e-02 1.27705219e+02] [-5.41934242e-02 9.98529785e-01 1.15781206e-03 -9.74522636e+00] [ 1.64695381e-02 -2.65504673e-04 9.99864333e-01 -2.51813660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042414037 meters 0.07169543583968954 Centerline is valid? [True, True] Translation: X:127.76, Y:-9.76, Z:-2.52 [[ 9.98658738e-01 4.86194717e-02 -1.78008805e-02 1.27762557e+02] [-4.86048455e-02 9.98817299e-01 1.25362857e-03 -9.76000018e+00] [ 1.78407781e-02 -3.86738084e-04 9.99840766e-01 -2.52165637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102414037 meters 0.072910681558136 Centerline is valid? [True, True] Translation: X:127.82, Y:-9.79, Z:-2.52 [[ 9.99077774e-01 3.98188647e-02 -1.60642291e-02 1.27821362e+02] [-3.98057983e-02 9.99206793e-01 1.13243728e-03 -9.78713732e+00] [ 1.60965792e-02 -4.91943452e-04 9.99870321e-01 -2.52489638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162414037 meters 0.07463831437664195 Centerline is valid? [True, True] Translation: X:127.88, Y:-9.81, Z:-2.53 [[ 9.99461161e-01 2.99962441e-02 -1.33271759e-02 1.27880510e+02] [-2.99863798e-02 9.99549866e-01 9.39423259e-04 -9.81108726e+00] [ 1.33493560e-02 -5.39283303e-04 9.99910748e-01 -2.52688506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222414037 meters 0.07384540306237747 Centerline is valid? [True, True] Translation: X:127.94, Y:-9.82, Z:-2.52 [[ 9.99586505e-01 2.49912842e-02 -1.42216030e-02 1.27940582e+02] [-2.49795496e-02 9.99687460e-01 1.00218369e-03 -9.81667015e+00] [ 1.42422040e-02 -6.46520050e-04 9.99898366e-01 -2.52320752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282414037 meters 0.07484970535998192 Centerline is valid? [True, True] Translation: X:128.00, Y:-9.83, Z:-2.53 [[ 9.99695167e-01 2.07370281e-02 -1.33995523e-02 1.27999821e+02] [-2.07262349e-02 9.99784743e-01 9.43871254e-04 -9.83266297e+00] [ 1.34162410e-02 -6.65861262e-04 9.99909776e-01 -2.52646900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342414037 meters 0.07464659977156961 Centerline is valid? [True, True] Translation: X:128.06, Y:-9.84, Z:-2.53 [[ 9.99727577e-01 2.08785476e-02 -1.04335069e-02 1.28058449e+02] [-2.08720249e-02 9.99781886e-01 7.33680833e-04 -9.84353830e+00] [ 1.04465494e-02 -5.15712547e-04 9.99945300e-01 -2.52651812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402414037 meters 0.07493237160829219 Centerline is valid? [True, True] Translation: X:128.12, Y:-9.85, Z:-2.53 [[ 9.99637437e-01 2.44117088e-02 -1.13606262e-02 1.28117023e+02] [-2.44042084e-02 9.99701854e-01 7.98389111e-04 -9.84606093e+00] [ 1.13767291e-02 -5.20852555e-04 9.99935147e-01 -2.52904875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462414037 meters 0.07407938719969225 Centerline is valid? [True, True] Translation: X:128.18, Y:-9.85, Z:-2.53 [[ 9.99470335e-01 2.98401024e-02 -1.29853030e-02 1.28177491e+02] [-2.98307531e-02 9.99554547e-01 9.13133240e-04 -9.84726461e+00] [ 1.30067666e-02 -5.25288218e-04 9.99915270e-01 -2.53185583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52241403699998 meters 0.07221483512708984 Centerline is valid? [True, True] Translation: X:128.24, Y:-9.85, Z:-2.53 [[ 9.99296147e-01 3.54559704e-02 -1.22509120e-02 1.28237973e+02] [-3.54480684e-02 9.99371148e-01 8.61625363e-04 -9.84836833e+00] [ 1.22737578e-02 -4.26747738e-04 9.99924584e-01 -2.52947037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58241403699998 meters 0.07103411336939977 Centerline is valid? [True, True] Translation: X:128.30, Y:-9.85, Z:-2.53 [[ 9.98938640e-01 4.42253225e-02 -1.28730119e-02 1.28298558e+02] [-4.42173250e-02 9.99021526e-01 9.05359278e-04 -9.84648388e+00] [ 1.29004558e-02 -3.35188213e-04 9.99916729e-01 -2.53019068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64241403699998 meters 0.06978229512866775 Centerline is valid? [True, True] Translation: X:128.36, Y:-9.85, Z:-2.53 [[ 9.98587410e-01 5.17833243e-02 -1.19026353e-02 1.28358570e+02] [-5.17770361e-02 9.98658320e-01 8.36055097e-04 -9.84590457e+00] [ 1.19299595e-02 -2.18590916e-04 9.99928812e-01 -2.52769922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70241403699998 meters 0.0692937467191393 Centerline is valid? [True, True] Translation: X:128.42, Y:-9.85, Z:-2.53 [[ 9.98085800e-01 6.08113235e-02 -1.12569051e-02 1.28417043e+02] [-6.08062772e-02 9.98149273e-01 7.90315057e-04 -9.85394624e+00] [ 1.12841317e-02 -1.04311746e-04 9.99936327e-01 -2.53018482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76241403699999 meters 0.06925123530158693 Centerline is valid? [True, True] Translation: X:128.47, Y:-9.86, Z:-2.53 [[ 9.97650189e-01 6.69074482e-02 -1.47476929e-02 1.28474876e+02] [-6.68994823e-02 9.97759185e-01 1.03337442e-03 -9.86096260e+00] [ 1.47837865e-02 -4.43331663e-05 9.99890713e-01 -2.53409282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822414037 meters 0.06900706775101034 Centerline is valid? [True, True] Translation: X:128.53, Y:-9.87, Z:-2.53 [[ 9.97482373e-01 6.96044637e-02 -1.35696165e-02 1.28533509e+02] [-6.95980494e-02 9.97574668e-01 9.44933866e-04 -9.87222101e+00] [ 1.36024773e-02 1.86396549e-06 9.99907482e-01 -2.53286904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882414037 meters 0.06907492165484354 Centerline is valid? [True, True] Translation: X:128.59, Y:-9.89, Z:-2.53 [[ 9.97562403e-01 6.84851396e-02 -1.33804945e-02 1.28589933e+02] [-6.84787832e-02 9.97652136e-01 9.33172504e-04 -9.89171730e+00] [ 1.34129874e-02 -1.46178230e-05 9.99910042e-01 -2.53437674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942414037 meters 0.06880849295517034 Centerline is valid? [True, True] Translation: X:128.65, Y:-9.91, Z:-2.53 [[ 9.97716539e-01 6.67923799e-02 -1.00242597e-02 1.28648516e+02] [-6.67887296e-02 9.97766895e-01 6.98835138e-04 -9.90675865e+00] [ 1.00485513e-02 -2.77318067e-05 9.99949512e-01 -2.53223179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002414037 meters 0.06853271909934114 Centerline is valid? [True, True] Translation: X:128.71, Y:-9.93, Z:-2.53 [[ 9.97655449e-01 6.76551085e-02 -1.03146115e-02 1.28706436e+02] [-6.76513002e-02 9.97708768e-01 7.18080139e-04 -9.92683964e+00] [ 1.03395601e-02 -1.85996865e-05 9.99946545e-01 -2.52935241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062414037 meters 0.06837793985740596 Centerline is valid? [True, True] Translation: X:128.76, Y:-9.94, Z:-2.53 [[ 9.97562005e-01 6.83614829e-02 -1.40269061e-02 1.28764635e+02] [-6.83545189e-02 9.97660617e-01 9.75861415e-04 -9.94347968e+00] [ 1.40608032e-02 -1.46798477e-05 9.99901142e-01 -2.52788244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122414037 meters 0.06842210430476128 Centerline is valid? [True, True] Translation: X:128.82, Y:-9.96, Z:-2.53 [[ 9.97646561e-01 6.73678562e-02 -1.27636353e-02 1.28821574e+02] [-6.73620272e-02 9.97728205e-01 8.86538865e-04 -9.95778861e+00] [ 1.27943631e-02 -2.46681057e-05 9.99918148e-01 -2.52946207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182414037 meters 0.06861826169237152 Centerline is valid? [True, True] Translation: X:128.88, Y:-9.99, Z:-2.53 [[ 9.98122198e-01 6.00449376e-02 -1.21112797e-02 1.28877554e+02] [-6.00391629e-02 9.98195669e-01 8.40157621e-04 -9.98597220e+00] [ 1.21398741e-02 -1.11428879e-04 9.99926303e-01 -2.52778077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242414037 meters 0.07052327364233761 Centerline is valid? [True, True] Translation: X:128.94, Y:-10.01, Z:-2.54 [[ 9.98458043e-01 5.26699940e-02 -1.75330774e-02 1.28935684e+02] [-5.26567281e-02 9.98611930e-01 1.21773800e-03 -1.00142985e+01] [ 1.75728785e-02 -2.92625815e-04 9.99845542e-01 -2.53834576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30241403699998 meters 0.0721644731839021 Centerline is valid? [True, True] Translation: X:128.99, Y:-10.03, Z:-2.55 [[ 9.98499176e-01 5.11255308e-02 -1.96360834e-02 1.28993088e+02] [-5.11086319e-02 9.98692171e-01 1.36180669e-03 -1.00291144e+01] [ 1.96800258e-02 -3.56189503e-04 9.99806266e-01 -2.54659995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36241403699998 meters 0.07058718293233614 Centerline is valid? [True, True] Translation: X:129.05, Y:-10.04, Z:-2.54 [[ 9.98568400e-01 5.04433521e-02 -1.77937635e-02 1.29051556e+02] [-5.04294055e-02 9.98726868e-01 1.23190958e-03 -1.00439817e+01] [ 1.78332513e-02 -3.32817067e-04 9.99840920e-01 -2.53646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42241403699998 meters 0.07113033545610013 Centerline is valid? [True, True] Translation: X:129.11, Y:-10.06, Z:-2.54 [[ 9.98638753e-01 4.97236151e-02 -1.57544408e-02 1.29108623e+02] [-4.97126297e-02 9.98762970e-01 1.08838827e-03 -1.00613926e+01] [ 1.57890707e-02 -3.03712019e-04 9.99875299e-01 -2.53735849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48241403699998 meters 0.07095954701446713 Centerline is valid? [True, True] Translation: X:129.17, Y:-10.07, Z:-2.54 [[ 9.98568920e-01 5.04218177e-02 -1.78255964e-02 1.29166774e+02] [-5.04078792e-02 9.98727957e-01 1.23066987e-03 -1.00699444e+01] [ 1.78649741e-02 -3.30358172e-04 9.99840354e-01 -2.53869235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542414037 meters 0.07109391440610029 Centerline is valid? [True, True] Translation: X:129.22, Y:-10.08, Z:-2.54 [[ 9.98696550e-01 4.86716751e-02 -1.53710644e-02 1.29224836e+02] [-4.86611280e-02 9.98814784e-01 1.05964998e-03 -1.00817086e+01] [ 1.54044213e-02 -3.10295452e-04 9.99881297e-01 -2.53726080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602414037 meters 0.07285038568018656 Centerline is valid? [True, True] Translation: X:129.28, Y:-10.10, Z:-2.53 [[ 9.99078780e-01 4.09686581e-02 -1.27734592e-02 1.29282795e+02] [-4.09607542e-02 9.99160369e-01 8.79890118e-04 -1.01018045e+01] [ 1.27987821e-02 -3.55869023e-04 9.99918029e-01 -2.53485404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662414037 meters 0.07724704861470753 Centerline is valid? [True, True] Translation: X:129.34, Y:-10.12, Z:-2.54 [[ 9.99388948e-01 3.17579102e-02 -1.46001712e-02 1.29340370e+02] [-3.17465924e-02 9.99495443e-01 1.00635113e-03 -1.01245716e+01] [ 1.46247642e-02 -5.42230515e-04 9.99892905e-01 -2.53915788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722414037 meters 0.079476530587045 Centerline is valid? [True, True] Translation: X:129.40, Y:-10.14, Z:-2.54 [[ 9.99521908e-01 2.54926960e-02 -1.74950651e-02 1.29399436e+02] [-2.54754816e-02 9.99674720e-01 1.20615638e-03 -1.01399161e+01] [ 1.75201225e-02 -7.59884521e-04 9.99846222e-01 -2.54254006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782414037 meters 0.08149141831965268 Centerline is valid? [True, True] Translation: X:129.46, Y:-10.15, Z:-2.54 [[ 9.99584784e-01 2.44201167e-02 -1.52943742e-02 1.29456819e+02] [-2.44068918e-02 9.99701555e-01 1.05078032e-03 -1.01513663e+01] [ 1.53154699e-02 -6.77055886e-04 9.99882482e-01 -2.54460692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842414037 meters 0.07840891167741128 Centerline is valid? [True, True] Translation: X:129.52, Y:-10.15, Z:-2.54 [[ 9.99520808e-01 2.62953929e-02 -1.63311674e-02 1.29515513e+02] [-2.62805768e-02 9.99653977e-01 1.12121594e-03 -1.01504197e+01] [ 1.63549993e-02 -6.91486162e-04 9.99866009e-01 -2.54253172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902414037 meters 0.07833868478363228 Centerline is valid? [True, True] Translation: X:129.57, Y:-10.16, Z:-2.55 [[ 9.99391307e-01 3.12734740e-02 -1.54591319e-02 1.29574409e+02] [-3.12607915e-02 9.99510698e-01 1.06141675e-03 -1.01556999e+01] [ 1.54847619e-02 -5.77505974e-04 9.99879937e-01 -2.54685555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962414037 meters 0.07571495308783076 Centerline is valid? [True, True] Translation: X:129.63, Y:-10.15, Z:-2.54 [[ 9.99341673e-01 3.29496834e-02 -1.51834913e-02 1.29633993e+02] [-3.29376640e-02 9.99456866e-01 1.04106759e-03 -1.01541773e+01] [ 1.52095474e-02 -5.40273499e-04 9.99884182e-01 -2.54390721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02241403699998 meters 0.07497299774792246 Centerline is valid? [True, True] Translation: X:129.69, Y:-10.16, Z:-2.54 [[ 9.99287576e-01 3.55052685e-02 -1.27951778e-02 1.29693521e+02] [-3.54969465e-02 9.99369400e-01 8.76986220e-04 -1.01553308e+01] [ 1.28182468e-02 -4.22171690e-04 9.99917754e-01 -2.54359200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08241403699998 meters 0.07386537004545418 Centerline is valid? [True, True] Translation: X:129.75, Y:-10.16, Z:-2.54 [[ 9.99228293e-01 3.76332633e-02 -1.12496823e-02 1.29752034e+02] [-3.76269852e-02 9.99291558e-01 7.69276187e-04 -1.01595202e+01] [ 1.12706629e-02 -3.45390904e-04 9.99936424e-01 -2.54123243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14241403699998 meters 0.07548620494775511 Centerline is valid? [True, True] Translation: X:129.81, Y:-10.17, Z:-2.55 [[ 9.99332125e-01 3.39393381e-02 -1.35434774e-02 1.29812349e+02] [-3.39298747e-02 9.99423785e-01 9.27977778e-04 -1.01659090e+01] [ 1.35671684e-02 -4.67829513e-04 9.99907852e-01 -2.54508085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20241403699998 meters 0.07950267860230052 Centerline is valid? [True, True] Translation: X:129.87, Y:-10.18, Z:-2.55 [[ 9.99466365e-01 2.99218611e-02 -1.31021552e-02 1.29870146e+02] [-2.99126854e-02 9.99552114e-01 8.95773771e-04 -1.01806626e+01] [ 1.31230902e-02 -5.03375108e-04 9.99913762e-01 -2.55192134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26241403699999 meters 0.07655703396599657 Centerline is valid? [True, True] Translation: X:129.93, Y:-10.18, Z:-2.54 [[ 9.99600963e-01 2.79861157e-02 -3.83303558e-03 1.29930215e+02] [-2.79853186e-02 9.99608300e-01 2.61442104e-04 -1.01821010e+01] [ 3.83885093e-03 -1.54069057e-04 9.99992620e-01 -2.54022972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322414037 meters 0.07527153182307879 Centerline is valid? [True, True] Translation: X:129.99, Y:-10.18, Z:-2.54 [[ 9.99562933e-01 2.94202287e-02 -2.89710461e-03 1.29991495e+02] [-2.94197776e-02 9.99567125e-01 1.98200206e-04 -1.01782554e+01] [ 2.90168162e-03 -1.12881406e-04 9.99995784e-01 -2.53948959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382414037 meters 0.07544805446121523 Centerline is valid? [True, True] Translation: X:130.05, Y:-10.18, Z:-2.54 [[ 9.99551138e-01 2.97058056e-02 -3.88435810e-03 1.30051442e+02] [-2.97049969e-02 9.99558674e-01 2.65741380e-04 -1.01818642e+01] [ 3.89053789e-03 -1.50237253e-04 9.99992421e-01 -2.54214357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442414037 meters 0.076349331082628 Centerline is valid? [True, True] Translation: X:130.11, Y:-10.19, Z:-2.54 [[ 9.99597793e-01 2.75310322e-02 -6.80395787e-03 1.30111601e+02] [-2.75285005e-02 9.99620911e-01 4.65480551e-04 -1.01874525e+01] [ 6.81419372e-03 -2.77990574e-04 9.99976744e-01 -2.54499121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502414037 meters 0.07849921500827678 Centerline is valid? [True, True] Translation: X:130.17, Y:-10.19, Z:-2.55 [[ 9.99647311e-01 2.49690734e-02 -9.04431294e-03 1.30170197e+02] [-2.49645060e-02 9.99688147e-01 6.17565841e-04 -1.01930590e+01] [ 9.05691249e-03 -3.91561228e-04 9.99958909e-01 -2.55151286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562414037 meters 0.07880304204752835 Centerline is valid? [True, True] Translation: X:130.23, Y:-10.20, Z:-2.55 [[ 9.99718543e-01 2.25725240e-02 -7.30181731e-03 1.30229711e+02] [-2.25694867e-02 9.99745153e-01 4.98107641e-04 -1.01958490e+01] [ 7.31120001e-03 -3.33169176e-04 9.99973217e-01 -2.55062978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622414037 meters 0.08042864855780735 Centerline is valid? [True, True] Translation: X:130.29, Y:-10.20, Z:-2.55 [[ 9.99871130e-01 1.57549507e-02 -3.08288663e-03 1.30289824e+02] [-1.57543774e-02 9.99875870e-01 2.10167353e-04 -1.02012462e+01] [ 3.08581513e-03 -1.61571310e-04 9.99995226e-01 -2.54630495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682414037 meters 0.0745813249853926 Centerline is valid? [True, True] Translation: X:130.35, Y:-10.19, Z:-2.54 [[ 9.99908737e-01 1.13886444e-02 -7.26754194e-03 1.30351196e+02] [-1.13853363e-02 9.99935062e-01 4.96405125e-04 -1.01868100e+01] [ 7.27272338e-03 -4.13616412e-04 9.99973468e-01 -2.54109818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742414037 meters 0.07612144122075214 Centerline is valid? [True, True] Translation: X:130.41, Y:-10.18, Z:-2.55 [[ 9.99873173e-01 7.67736021e-03 -1.39533598e-02 1.30411444e+02] [-7.66481196e-03 9.99970171e-01 9.52555612e-04 -1.01848859e+01] [ 1.39602567e-02 -8.45484923e-04 9.99902193e-01 -2.54721914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80241403699998 meters 0.0769841298851364 Centerline is valid? [True, True] Translation: X:130.47, Y:-10.18, Z:-2.55 [[ 9.99917006e-01 6.59486090e-03 -1.10675092e-02 1.30469431e+02] [-6.58692638e-03 9.99978022e-01 7.53218797e-04 -1.01830126e+01] [ 1.10722334e-02 -6.80255416e-04 9.99938470e-01 -2.54782296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86241403699998 meters 0.07766752416365375 Centerline is valid? [True, True] Translation: X:130.53, Y:-10.18, Z:-2.55 [[ 9.99935962e-01 5.02776723e-03 -1.01386736e-02 1.30528201e+02] [-5.02103847e-03 9.99987157e-01 6.89017074e-04 -1.01772430e+01] [ 1.01420076e-02 -6.38066281e-04 9.99948365e-01 -2.54835517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92241403699998 meters 0.07862552026425589 Centerline is valid? [True, True] Translation: X:130.59, Y:-10.17, Z:-2.55 [[ 9.99937066e-01 3.47589598e-03 -1.06668428e-02 1.30588201e+02] [-3.46835274e-03 9.99993722e-01 7.25584598e-04 -1.01745889e+01] [ 1.06692979e-02 -6.88542561e-04 9.99942844e-01 -2.55101229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98241403699998 meters 0.0824828337845774 Centerline is valid? [True, True] Translation: X:130.65, Y:-10.17, Z:-2.55 [[ 9.99980316e-01 -7.18062936e-04 -6.23313482e-03 1.30647614e+02] [ 7.20716798e-04 9.99999651e-01 4.23531106e-04 -1.01732083e+01] [ 6.23282852e-03 -4.28015094e-04 9.99980484e-01 -2.55467744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042414037 meters 0.08292653979578031 Centerline is valid? [True, True] Translation: X:130.71, Y:-10.16, Z:-2.56 [[ 9.99931245e-01 -1.03855128e-02 -5.44488975e-03 1.30708908e+02] [ 1.03876815e-02 9.99945978e-01 3.70164309e-04 -1.01607376e+01] [ 5.44075126e-03 -4.26698638e-04 9.99985108e-01 -2.55571428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102414037 meters 0.08467118584633976 Centerline is valid? [True, True] Translation: X:130.77, Y:-10.16, Z:-2.56 [[ 9.99868061e-01 -1.51255374e-02 -5.92280486e-03 1.30769337e+02] [ 1.51281856e-02 9.99885481e-01 4.02564384e-04 -1.01581882e+01] [ 5.91603758e-03 -4.92112561e-04 9.99982379e-01 -2.56028860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162414037 meters 0.08154997919974752 Centerline is valid? [True, True] Translation: X:130.83, Y:-10.14, Z:-2.56 [[ 9.99869704e-01 -1.53253983e-02 -5.07016805e-03 1.30830042e+02] [ 1.53273125e-02 9.99882472e-01 3.38897452e-04 -1.01370206e+01] [ 5.06437842e-03 -4.16565345e-04 9.99987089e-01 -2.56111579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222414037 meters 0.08048155311625467 Centerline is valid? [True, True] Translation: X:130.89, Y:-10.12, Z:-2.56 [[ 9.99976823e-01 -5.82085832e-03 -3.53152374e-03 1.30890595e+02] [ 5.82173803e-03 9.99983025e-01 2.38874182e-04 -1.01175272e+01] [ 3.53007333e-03 -2.59428252e-04 9.99993736e-01 -2.56355481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282414037 meters 0.07865808391417706 Centerline is valid? [True, True] Translation: X:130.95, Y:-10.10, Z:-2.56 [[ 9.99996926e-01 2.47653718e-03 1.22084946e-04 1.30952407e+02] [-2.47653620e-03 9.99996933e-01 -8.21378791e-06 -1.00983250e+01] [-1.22104913e-04 7.91141488e-06 9.99999993e-01 -2.56423360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342414037 meters 0.07733953596958756 Centerline is valid? [True, True] Translation: X:131.01, Y:-10.08, Z:-2.57 [[ 9.99996647e-01 2.50704338e-03 -6.49167843e-04 1.31013516e+02] [-2.50701536e-03 9.99996856e-01 4.39789531e-05 -1.00846941e+01] [ 6.49276060e-04 -4.23513318e-05 9.99999788e-01 -2.56563116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402414037 meters 0.07900555193210335 Centerline is valid? [True, True] Translation: X:131.07, Y:-10.09, Z:-2.57 [[ 9.99993223e-01 -2.54117581e-03 -2.66373005e-03 1.31073899e+02] [ 2.54166556e-03 9.99996754e-01 1.80491463e-04 -1.00850811e+01] [ 2.66326274e-03 -1.87260551e-04 9.99996436e-01 -2.56937950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462414037 meters 0.08193027160068782 Centerline is valid? [True, True] Translation: X:131.13, Y:-10.08, Z:-2.57 [[ 9.99905310e-01 -1.32826561e-02 -3.59750287e-03 1.31134835e+02] [ 1.32836182e-02 9.99911739e-01 2.43687179e-04 -1.00832191e+01] [ 3.59394854e-03 -2.91451959e-04 9.99993499e-01 -2.57001617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52241403699998 meters 0.08599834340211941 Centerline is valid? [True, True] Translation: X:131.20, Y:-10.08, Z:-2.57 [[ 9.99707644e-01 -2.25406228e-02 -8.74915507e-03 1.31195473e+02] [ 2.25466672e-02 9.99745616e-01 5.92823875e-04 -1.00799709e+01] [ 8.73356680e-03 -7.89914847e-04 9.99961550e-01 -2.57477719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58241403699998 meters 0.09123909738835158 Centerline is valid? [True, True] Translation: X:131.25, Y:-10.08, Z:-2.58 [[ 9.99588851e-01 -2.75059349e-02 -8.09644913e-03 1.31254424e+02] [ 2.75112702e-02 9.99621343e-01 5.48317623e-04 -1.00837291e+01] [ 8.07830137e-03 -7.70835782e-04 9.99967073e-01 -2.57809997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64241403699998 meters 0.0889988717523073 Centerline is valid? [True, True] Translation: X:131.32, Y:-10.06, Z:-2.57 [[ 9.99621901e-01 -2.72875104e-02 -3.38333021e-03 1.31316960e+02] [ 2.72884410e-02 9.99627575e-01 2.29193333e-04 -1.00595490e+01] [ 3.37581606e-03 -3.21432482e-04 9.99994250e-01 -2.57077835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70241403699998 meters 0.0878235333460743 Centerline is valid? [True, True] Translation: X:131.38, Y:-10.05, Z:-2.57 [[ 9.99746100e-01 -2.18529820e-02 -5.49382736e-03 1.31378329e+02] [ 2.18553542e-02 9.99761074e-01 3.72119685e-04 -1.00483926e+01] [ 5.48438282e-03 -4.92094747e-04 9.99984840e-01 -2.57273961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76241403699999 meters 0.08702304103042736 Centerline is valid? [True, True] Translation: X:131.44, Y:-10.04, Z:-2.58 [[ 9.99847586e-01 -1.54012980e-02 -8.22215791e-03 1.31439178e+02] [ 1.54063962e-02 9.99881159e-01 5.57077151e-04 -1.00379247e+01] [ 8.21260108e-03 -6.83666067e-04 9.99966042e-01 -2.57670905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822414037 meters 0.08503760892183247 Centerline is valid? [True, True] Translation: X:131.50, Y:-10.02, Z:-2.58 [[ 9.99923551e-01 -7.66694474e-03 -9.70103998e-03 1.31501314e+02] [ 7.67367808e-03 9.99970341e-01 6.57051696e-04 -1.00217514e+01] [ 9.69571467e-03 -7.31444123e-04 9.99952728e-01 -2.58014238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882414037 meters 0.0813115165771432 Centerline is valid? [True, True] Translation: X:131.56, Y:-10.01, Z:-2.58 [[ 9.99944953e-01 -9.07525886e-03 -5.26599825e-03 1.31560972e+02] [ 9.07723148e-03 9.99958740e-01 3.50816062e-04 -1.00068000e+01] [ 5.26259722e-03 -3.98597436e-04 9.99986073e-01 -2.57512862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942414037 meters 0.08325173523907844 Centerline is valid? [True, True] Translation: X:131.62, Y:-10.01, Z:-2.58 [[ 9.99864730e-01 -1.42432125e-02 -8.22512785e-03 1.31621907e+02] [ 1.42482581e-02 9.99898334e-01 5.55169641e-04 -1.00050342e+01] [ 8.21638423e-03 -6.72288288e-04 9.99966019e-01 -2.57588064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002414037 meters 0.08576322122088166 Centerline is valid? [True, True] Translation: X:131.68, Y:-10.01, Z:-2.58 [[ 9.99763249e-01 -1.49556218e-02 -1.58042957e-02 1.31681268e+02] [ 1.49743297e-02 9.99887310e-01 1.06604288e-03 -1.00076996e+01] [ 1.57865714e-02 -1.30244923e-03 9.99874536e-01 -2.58414046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062414037 meters 0.08255664591696202 Centerline is valid? [True, True] Translation: X:131.74, Y:-9.99, Z:-2.59 [[ 9.99856525e-01 -8.63033756e-03 -1.45755316e-02 1.31743153e+02] [ 8.64558348e-03 9.99962143e-01 9.83306587e-04 -9.99332549e+00] [ 1.45664935e-02 -1.10917948e-03 9.99893288e-01 -2.58543866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122414037 meters 0.079635728493017 Centerline is valid? [True, True] Translation: X:131.81, Y:-9.98, Z:-2.58 [[ 9.99874361e-01 3.74444199e-03 -1.54026127e-02 1.31805378e+02] [-3.72886916e-03 9.99992507e-01 1.03964560e-03 -9.97651721e+00] [ 1.54063902e-02 -9.82080657e-04 9.99880832e-01 -2.58460266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182414037 meters 0.07849188037375385 Centerline is valid? [True, True] Translation: X:131.87, Y:-9.97, Z:-2.58 [[ 9.99860795e-01 1.07671482e-02 -1.27459259e-02 1.31865335e+02] [-1.07570637e-02 9.99941772e-01 8.59494513e-04 -9.96904294e+00] [ 1.27544380e-02 -7.22266131e-04 9.99918398e-01 -2.58419365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242414037 meters 0.07760244462314465 Centerline is valid? [True, True] Translation: X:131.93, Y:-9.97, Z:-2.58 [[ 9.99845664e-01 1.51445832e-02 -8.90449304e-03 1.31925097e+02] [-1.51398387e-02 9.99885206e-01 5.99991908e-04 -9.96839783e+00] [ 8.91255748e-03 -4.65086719e-04 9.99960174e-01 -2.58279006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30241403699998 meters 0.07530552970131754 Centerline is valid? [True, True] Translation: X:131.99, Y:-9.96, Z:-2.58 [[ 9.99780556e-01 1.93731299e-02 -7.97007794e-03 1.31985709e+02] [-1.93694627e-02 9.99812250e-01 5.37061110e-04 -9.96354818e+00] [ 7.97898612e-03 -3.82567128e-04 9.99968094e-01 -2.57938554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36241403699998 meters 0.07694781110978374 Centerline is valid? [True, True] Translation: X:132.04, Y:-9.97, Z:-2.59 [[ 9.99679391e-01 2.19832659e-02 -1.25638861e-02 1.32043270e+02] [-2.19743870e-02 9.99758177e-01 8.44326891e-04 -9.97337147e+00] [ 1.25794090e-02 -5.67972495e-04 9.99920715e-01 -2.58697763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42241403699998 meters 0.07503367878053659 Centerline is valid? [True, True] Translation: X:132.10, Y:-9.97, Z:-2.59 [[ 9.99539070e-01 2.59060013e-02 -1.58280128e-02 1.32102486e+02] [-2.58924053e-02 9.99664170e-01 1.06333982e-03 -9.97294178e+00] [ 1.58502442e-02 -6.53024376e-04 9.99874164e-01 -2.58721334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48241403699998 meters 0.07407086540701638 Centerline is valid? [True, True] Translation: X:132.16, Y:-9.97, Z:-2.59 [[ 9.99215924e-01 3.71812897e-02 -1.36047737e-02 1.32161449e+02] [-3.71722896e-02 9.99308454e-01 9.13903629e-04 -9.97468159e+00] [ 1.36293455e-02 -4.07466469e-04 9.99907033e-01 -2.59078035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542414037 meters 0.07273168418757885 Centerline is valid? [True, True] Translation: X:132.22, Y:-9.98, Z:-2.59 [[ 9.98747097e-01 4.92908394e-02 -8.63994072e-03 1.32220950e+02] [-4.92876619e-02 9.98784456e-01 5.80443933e-04 -9.97712745e+00] [ 8.65804906e-03 -1.53874217e-04 9.99962507e-01 -2.58890185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602414037 meters 0.07224247196732773 Centerline is valid? [True, True] Translation: X:132.28, Y:-9.98, Z:-2.59 [[ 9.98485571e-01 5.42657464e-02 -9.04390997e-03 1.32279549e+02] [-5.42625276e-02 9.98526523e-01 6.01087008e-04 -9.98302393e+00] [ 9.06320241e-03 -1.09431290e-04 9.99958922e-01 -2.58628779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662414037 meters 0.07185862567758022 Centerline is valid? [True, True] Translation: X:132.34, Y:-10.00, Z:-2.59 [[ 9.98307289e-01 5.70701412e-02 -1.12051671e-02 1.32336172e+02] [-5.70653423e-02 9.98370166e-01 7.47789388e-04 -9.99766939e+00] [ 1.12295810e-02 -1.07096901e-04 9.99936941e-01 -2.58722930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722414037 meters 0.0720904734442813 Centerline is valid? [True, True] Translation: X:132.39, Y:-10.02, Z:-2.59 [[ 9.98361763e-01 5.51112621e-02 -1.53798286e-02 1.32394359e+02] [-5.51019732e-02 9.98480204e-01 1.02739190e-03 -1.00204913e+01] [ 1.54130753e-02 -1.78249887e-04 9.99881196e-01 -2.59215196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782414037 meters 0.07212350101718829 Centerline is valid? [True, True] Translation: X:132.45, Y:-10.04, Z:-2.59 [[ 9.98540254e-01 5.17441056e-02 -1.54890123e-02 1.32451695e+02] [-5.17343976e-02 9.98660351e-01 1.02705953e-03 -1.00418663e+01] [ 1.55214068e-02 -2.24245566e-04 9.99879511e-01 -2.59484856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842414037 meters 0.07185995025888889 Centerline is valid? [True, True] Translation: X:132.51, Y:-10.06, Z:-2.60 [[ 9.98587460e-01 5.08672576e-02 -1.53494801e-02 1.32509397e+02] [-5.08575879e-02 9.98705395e-01 1.01990662e-03 -1.00574117e+01] [ 1.53814885e-02 -2.37828426e-04 9.99881670e-01 -2.59592927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902414037 meters 0.07194347505369336 Centerline is valid? [True, True] Translation: X:132.57, Y:-10.07, Z:-2.60 [[ 9.98724276e-01 4.74226337e-02 -1.73468645e-02 1.32567830e+02] [-4.74097610e-02 9.98874860e-01 1.15279562e-03 -1.00745615e+01] [ 1.73820154e-02 -3.28914270e-04 9.99848867e-01 -2.59660950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962414037 meters 0.07250519783272293 Centerline is valid? [True, True] Translation: X:132.62, Y:-10.10, Z:-2.60 [[ 9.99150235e-01 3.86385267e-02 -1.43482273e-02 1.32624810e+02] [-3.86288315e-02 9.99253174e-01 9.52334385e-04 -1.01004633e+01] [ 1.43743085e-02 -3.97269869e-04 9.99896605e-01 -2.59876187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02241403699998 meters 0.07336468178328905 Centerline is valid? [True, True] Translation: X:132.68, Y:-10.13, Z:-2.60 [[ 9.99570434e-01 2.73147363e-02 -1.06232114e-02 1.32683836e+02] [-2.73087775e-02 9.99626797e-01 7.05603723e-04 -1.01269625e+01] [ 1.06385201e-02 -4.15193704e-04 9.99943323e-01 -2.59780214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08241403699998 meters 0.07445642395263452 Centerline is valid? [True, True] Translation: X:132.74, Y:-10.15, Z:-2.60 [[ 9.99694770e-01 2.13259630e-02 -1.24727804e-02 1.32743323e+02] [-2.13172829e-02 9.99772418e-01 8.28472406e-04 -1.01491812e+01] [ 1.24876098e-02 -5.62333741e-04 9.99921869e-01 -2.60118710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14241403699998 meters 0.07508202152710738 Centerline is valid? [True, True] Translation: X:132.80, Y:-10.16, Z:-2.61 [[ 9.99670325e-01 2.13032010e-02 -1.43323291e-02 1.32800544e+02] [-2.12917767e-02 9.99772854e-01 9.49228355e-04 -1.01644823e+01] [ 1.43492951e-02 -6.43754667e-04 9.99896836e-01 -2.60684886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20241403699998 meters 0.07512901888770675 Centerline is valid? [True, True] Translation: X:132.86, Y:-10.17, Z:-2.61 [[ 9.99734762e-01 2.06507590e-02 -1.01956648e-02 1.32858929e+02] [-2.06449525e-02 9.99786643e-01 6.74438811e-04 -1.01746892e+01] [ 1.02074172e-02 -4.63770909e-04 9.99947795e-01 -2.60678613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26241403699999 meters 0.07590397762578452 Centerline is valid? [True, True] Translation: X:132.92, Y:-10.19, Z:-2.61 [[ 9.99796979e-01 1.78457851e-02 -9.35571465e-03 1.32917740e+02] [-1.78407714e-02 9.99840649e-01 6.19094806e-04 -1.01873718e+01] [ 9.36527204e-03 -4.52055950e-04 9.99956043e-01 -2.60626834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322414037 meters 0.07717684252981633 Centerline is valid? [True, True] Translation: X:132.98, Y:-10.20, Z:-2.61 [[ 9.99815170e-01 1.52640615e-02 -1.16890964e-02 1.32977222e+02] [-1.52560556e-02 9.99883320e-01 7.73774596e-04 -1.01991413e+01] [ 1.16995434e-02 -5.95302075e-04 9.99931381e-01 -2.61004700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382414037 meters 0.07563885123672334 Centerline is valid? [True, True] Translation: X:133.04, Y:-10.20, Z:-2.61 [[ 9.99788313e-01 1.56535141e-02 -1.33527639e-02 1.33036091e+02] [-1.56431265e-02 9.99877250e-01 8.82032375e-04 -1.01993205e+01] [ 1.33649318e-02 -6.72966685e-04 9.99910459e-01 -2.60878151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442414037 meters 0.07459204341990305 Centerline is valid? [True, True] Translation: X:133.10, Y:-10.20, Z:-2.61 [[ 9.99569104e-01 2.51488501e-02 -1.51374428e-02 1.33096443e+02] [-2.51365829e-02 9.99683526e-01 1.00013453e-03 -1.01963227e+01] [ 1.51578045e-02 -6.19199985e-04 9.99884922e-01 -2.61376620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502414037 meters 0.07292272491325169 Centerline is valid? [True, True] Translation: X:133.16, Y:-10.19, Z:-2.61 [[ 9.99387112e-01 3.28117540e-02 -1.21979119e-02 1.33156828e+02] [-3.28043663e-02 9.99461468e-01 8.05295536e-04 -1.01944224e+01] [ 1.22177661e-02 -4.04657210e-04 9.99925278e-01 -2.61300585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562414037 meters 0.07158436154197885 Centerline is valid? [True, True] Translation: X:133.22, Y:-10.19, Z:-2.61 [[ 9.99153395e-01 4.09111322e-02 -4.33274833e-03 1.33216469e+02] [-4.09102769e-02 9.99162783e-01 2.85897943e-04 -1.01936988e+01] [ 4.34081729e-03 -1.08401967e-04 9.99990573e-01 -2.60910760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622414037 meters 0.0711820454301432 Centerline is valid? [True, True] Translation: X:133.28, Y:-10.20, Z:-2.61 [[ 9.99136504e-01 4.12450903e-02 -5.00889763e-03 1.33275707e+02] [-4.12439578e-02 9.99149052e-01 3.29241136e-04 -1.01967747e+01] [ 5.01821490e-03 -1.22370075e-04 9.99987401e-01 -2.60849450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682414037 meters 0.07312727609359365 Centerline is valid? [True, True] Translation: X:133.33, Y:-10.21, Z:-2.62 [[ 9.99326920e-01 3.62053841e-02 -5.90576325e-03 1.33332810e+02] [-3.62037225e-02 9.99344355e-01 3.88049975e-04 -1.02133752e+01] [ 5.91594066e-03 -1.73978172e-04 9.99982486e-01 -2.61563058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74241403699997 meters 0.07288880174396517 Centerline is valid? [True, True] Translation: X:133.39, Y:-10.22, Z:-2.61 [[ 9.99556858e-01 2.94219921e-02 -4.52030701e-03 1.33392177e+02] [-2.94209468e-02 9.99567066e-01 2.97578183e-04 -1.02227726e+01] [ 4.52710536e-03 -1.64454602e-04 9.99989739e-01 -2.61287297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80241403699998 meters 0.07389777660511569 Centerline is valid? [True, True] Translation: X:133.45, Y:-10.23, Z:-2.61 [[ 9.99749757e-01 2.16720616e-02 -5.54480306e-03 1.33452285e+02] [-2.16703675e-02 9.99765103e-01 3.65436784e-04 -1.02345844e+01] [ 5.55142037e-03 -2.45187416e-04 9.99984561e-01 -2.61397941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86241403699998 meters 0.07488499438440152 Centerline is valid? [True, True] Translation: X:133.51, Y:-10.24, Z:-2.62 [[ 9.99746177e-01 1.94929119e-02 -1.12963608e-02 1.33511612e+02] [-1.94857449e-02 9.99809858e-01 7.44176921e-04 -1.02448266e+01] [ 1.13087191e-02 -5.23870026e-04 9.99935917e-01 -2.61771075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92241403699998 meters 0.07495214887515514 Centerline is valid? [True, True] Translation: X:133.57, Y:-10.25, Z:-2.62 [[ 9.99742216e-01 2.02840459e-02 -1.02008918e-02 1.33570817e+02] [-2.02782563e-02 9.99794150e-01 6.70678817e-04 -1.02473269e+01] [ 1.02123960e-02 -4.63649629e-04 9.99947745e-01 -2.61852327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98241403699998 meters 0.07463264693940305 Centerline is valid? [True, True] Translation: X:133.63, Y:-10.25, Z:-2.62 [[ 9.99695683e-01 2.08301103e-02 -1.32154293e-02 1.33630162e+02] [-2.08204541e-02 9.99782854e-01 8.67854595e-04 -1.02468125e+01] [ 1.32306371e-02 -5.92439253e-04 9.99912296e-01 -2.61947390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042414037 meters 0.07524976110899212 Centerline is valid? [True, True] Translation: X:133.69, Y:-10.25, Z:-2.62 [[ 9.99726320e-01 2.15597604e-02 -9.08079710e-03 1.33688727e+02] [-2.15552320e-02 9.99767481e-01 5.96270430e-04 -1.02541655e+01] [ 9.09154110e-03 -4.00368554e-04 9.99958591e-01 -2.62122018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102414037 meters 0.07475610220542198 Centerline is valid? [True, True] Translation: X:133.75, Y:-10.25, Z:-2.62 [[ 9.99664606e-01 2.38416218e-02 -1.01120212e-02 1.33747626e+02] [-2.38361358e-02 9.99715659e-01 6.62719728e-04 -1.02514298e+01] [ 1.01249462e-02 -4.21465947e-04 9.99948653e-01 -2.62298648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162414037 meters 0.07464543719405349 Centerline is valid? [True, True] Translation: X:133.81, Y:-10.26, Z:-2.62 [[ 9.99701609e-01 2.26795356e-02 -9.07366901e-03 1.33806573e+02] [-2.26750779e-02 9.99742711e-01 5.93861740e-04 -1.02560897e+01] [ 9.08480296e-03 -3.87938385e-04 9.99958657e-01 -2.62265950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222414037 meters 0.07485176114463894 Centerline is valid? [True, True] Translation: X:133.87, Y:-10.26, Z:-2.62 [[ 9.99731675e-01 2.14294584e-02 -8.79526077e-03 1.33865043e+02] [-2.14252276e-02 9.99770288e-01 5.74984720e-04 -1.02626782e+01] [ 8.80556201e-03 -3.86389974e-04 9.99961156e-01 -2.62377433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282414037 meters 0.0757313457846078 Centerline is valid? [True, True] Translation: X:133.93, Y:-10.27, Z:-2.63 [[ 9.99796095e-01 1.76603456e-02 -9.79184197e-03 1.33925220e+02] [-1.76549070e-02 9.99843934e-01 6.41586815e-04 -1.02696579e+01] [ 9.80164444e-03 -4.68581932e-04 9.99951853e-01 -2.62624103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342414037 meters 0.07593283876989718 Centerline is valid? [True, True] Translation: X:133.98, Y:-10.27, Z:-2.63 [[ 9.99852246e-01 1.54985960e-02 -7.43508325e-03 1.33984253e+02] [-1.54954143e-02 9.99879821e-01 4.85341348e-04 -1.02738387e+01] [ 7.44171182e-03 -3.70059941e-04 9.99972242e-01 -2.62551424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402414037 meters 0.07466686135667631 Centerline is valid? [True, True] Translation: X:134.05, Y:-10.27, Z:-2.62 [[ 9.99785278e-01 2.00951120e-02 -5.05818912e-03 1.34045450e+02] [-2.00936956e-02 9.99798047e-01 3.30689799e-04 -1.02723296e+01] [ 5.06381285e-03 -2.28981080e-04 9.99987153e-01 -2.62317644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462414037 meters 0.07387424572857185 Centerline is valid? [True, True] Translation: X:134.10, Y:-10.27, Z:-2.63 [[ 9.99491621e-01 2.83377587e-02 -1.46106186e-02 1.34104476e+02] [-2.83269237e-02 9.99598263e-01 9.48044562e-04 -1.02674140e+01] [ 1.46316145e-02 -5.33688718e-04 9.99892810e-01 -2.63087866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52241403699998 meters 0.07293668153584275 Centerline is valid? [True, True] Translation: X:134.17, Y:-10.27, Z:-2.63 [[ 9.99314805e-01 3.47444066e-02 -1.27572290e-02 1.34165127e+02] [-3.47366190e-02 9.99396156e-01 8.31584057e-04 -1.02651189e+01] [ 1.27784186e-02 -3.87871255e-04 9.99918277e-01 -2.63190551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58241403699998 meters 0.07140983578704835 Centerline is valid? [True, True] Translation: X:134.22, Y:-10.26, Z:-2.63 [[ 9.98956662e-01 4.53953569e-02 -4.98478106e-03 1.34224955e+02] [-4.53943025e-02 9.98969095e-01 3.24526017e-04 -1.02639202e+01] [ 4.99437420e-03 -9.79067671e-05 9.99987523e-01 -2.62803006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64241403699998 meters 0.07084604975043496 Centerline is valid? [True, True] Translation: X:134.28, Y:-10.26, Z:-2.63 [[ 9.98519806e-01 5.39351114e-02 -7.01429923e-03 1.34283646e+02] [-5.39332431e-02 9.98544440e-01 4.55375944e-04 -1.02630937e+01] [ 7.02865025e-03 -7.63979937e-05 9.99975296e-01 -2.63019050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70241403699998 meters 0.07088369238320524 Centerline is valid? [True, True] Translation: X:134.34, Y:-10.27, Z:-2.63 [[ 9.98224210e-01 5.89987466e-02 -8.22036439e-03 1.34342214e+02] [-5.89963549e-02 9.98258056e-01 5.33340123e-04 -1.02688034e+01] [ 8.23751137e-03 -4.74214876e-05 9.99966070e-01 -2.63304004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76241403699999 meters 0.07067614912913509 Centerline is valid? [True, True] Translation: X:134.40, Y:-10.28, Z:-2.63 [[ 9.98073412e-01 6.16752201e-02 -6.75505430e-03 1.34400182e+02] [-6.16736715e-02 9.98096271e-01 4.37511948e-04 -1.02797585e+01] [ 6.76917815e-03 -2.00600431e-05 9.99977089e-01 -2.63363446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822414037 meters 0.07075329104102358 Centerline is valid? [True, True] Translation: X:134.46, Y:-10.30, Z:-2.63 [[ 9.98347082e-01 5.71460333e-02 -6.11832366e-03 1.34458342e+02] [-5.71446812e-02 9.98365829e-01 3.95733099e-04 -1.02951700e+01] [ 6.13093985e-03 -4.54493302e-05 9.99981205e-01 -2.63452831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882414037 meters 0.07092609559641805 Centerline is valid? [True, True] Translation: X:134.52, Y:-10.31, Z:-2.63 [[ 9.98689540e-01 5.07162404e-02 -6.86049762e-03 1.34516605e+02] [-5.07143877e-02 9.98713099e-01 4.43861069e-04 -1.03127446e+01] [ 6.87417980e-03 -9.53534701e-05 9.99976368e-01 -2.63466060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942414037 meters 0.07160430035748001 Centerline is valid? [True, True] Translation: X:134.58, Y:-10.34, Z:-2.63 [[ 9.99199630e-01 3.86956071e-02 -1.01365292e-02 1.34576017e+02] [-3.86909311e-02 9.99251010e-01 6.57076284e-04 -1.03379539e+01] [ 1.01543630e-02 -2.64358627e-04 9.99948408e-01 -2.63143965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002414037 meters 0.07278262926543852 Centerline is valid? [True, True] Translation: X:134.63, Y:-10.36, Z:-2.63 [[ 9.99458965e-01 3.11759034e-02 -1.04804435e-02 1.34634231e+02] [-3.11705008e-02 9.99513852e-01 6.78475775e-04 -1.03561476e+01] [ 1.04965005e-02 -3.51428024e-04 9.99944848e-01 -2.63304936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062414037 meters 0.07407379456965003 Centerline is valid? [True, True] Translation: X:134.69, Y:-10.37, Z:-2.63 [[ 9.99569035e-01 2.53890532e-02 -1.47356672e-02 1.34693232e+02] [-2.53777345e-02 9.99677478e-01 9.54628256e-04 -1.03723659e+01] [ 1.47551517e-02 -5.80258994e-04 9.99890968e-01 -2.63444856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122414037 meters 0.07435585112167521 Centerline is valid? [True, True] Translation: X:134.75, Y:-10.38, Z:-2.63 [[ 9.99720528e-01 1.81717782e-02 -1.51212459e-02 1.34752753e+02] [-1.81590342e-02 9.99834631e-01 9.79674434e-04 -1.03829777e+01] [ 1.51365478e-02 -7.04813422e-04 9.99885187e-01 -2.63181489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182414037 meters 0.0761817167944753 Centerline is valid? [True, True] Translation: X:134.81, Y:-10.40, Z:-2.63 [[ 9.99869013e-01 1.06504502e-02 -1.21871119e-02 1.34811741e+02] [-1.06416217e-02 9.99943065e-01 7.89034082e-04 -1.03954636e+01] [ 1.21948216e-02 -6.59240094e-04 9.99925423e-01 -2.63143360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24241403699997 meters 0.07765875467284225 Centerline is valid? [True, True] Translation: X:134.87, Y:-10.40, Z:-2.63 [[ 9.99960168e-01 -2.67895232e-03 -8.51389053e-03 1.34872285e+02] [ 2.68374181e-03 9.99996247e-01 5.51175256e-04 -1.04020828e+01] [ 8.51238201e-03 -5.74002385e-04 9.99963604e-01 -2.62787291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30241403699998 meters 0.07912896798773342 Centerline is valid? [True, True] Translation: X:134.93, Y:-10.41, Z:-2.63 [[ 9.99932318e-01 -9.69514151e-03 -6.43147355e-03 1.34932325e+02] [ 9.69801754e-03 9.99952887e-01 4.16143096e-04 -1.04076240e+01] [ 6.42713598e-03 -4.78487474e-04 9.99979231e-01 -2.62696682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36241403699998 meters 0.0806351558300249 Centerline is valid? [True, True] Translation: X:134.99, Y:-10.41, Z:-2.63 [[ 9.99904042e-01 -1.19317385e-02 -7.03854429e-03 1.34993020e+02] [ 1.19352403e-02 9.99928669e-01 4.55719489e-04 -1.04078047e+01] [ 7.03260469e-03 -5.39682476e-04 9.99975125e-01 -2.62916806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42241403699998 meters 0.07877599705330483 Centerline is valid? [True, True] Translation: X:135.05, Y:-10.39, Z:-2.64 [[ 9.99920802e-01 -7.76863613e-03 -9.90139006e-03 1.35054171e+02] [ 7.77536051e-03 9.99969566e-01 6.40820244e-04 -1.03901981e+01] [ 9.89611042e-03 -7.17756369e-04 9.99950775e-01 -2.63521628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48241403699998 meters 0.07754366338073916 Centerline is valid? [True, True] Translation: X:135.12, Y:-10.38, Z:-2.64 [[ 9.99951182e-01 -4.23479149e-03 -8.92748837e-03 1.35115243e+02] [ 4.24011843e-03 9.99990844e-01 5.77847354e-04 -1.03799722e+01] [ 8.92495957e-03 -6.15672753e-04 9.99959982e-01 -2.63841775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542414037 meters 0.07954201810405233 Centerline is valid? [True, True] Translation: X:135.17, Y:-10.37, Z:-2.64 [[ 9.99964763e-01 -2.34882398e-03 -8.05945905e-03 1.35174750e+02] [ 2.35309723e-03 9.99997096e-01 5.20774358e-04 -1.03709175e+01] [ 8.05821244e-03 -5.39720699e-04 9.99967386e-01 -2.64377910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602414037 meters 0.0783004551030447 Centerline is valid? [True, True] Translation: X:135.23, Y:-10.36, Z:-2.64 [[ 9.99972445e-01 -3.65251508e-03 -6.46281246e-03 1.35234040e+02] [ 3.65528191e-03 9.99993233e-01 4.16355086e-04 -1.03610928e+01] [ 6.46124798e-03 -4.39967015e-04 9.99979029e-01 -2.64301840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662414037 meters 0.08045699385870439 Centerline is valid? [True, True] Translation: X:135.29, Y:-10.36, Z:-2.64 [[ 9.99944229e-01 -7.76181895e-03 -7.16195420e-03 1.35294298e+02] [ 7.76532879e-03 9.99969742e-01 4.62389815e-04 -1.03561787e+01] [ 7.15814851e-03 -5.17978957e-04 9.99974246e-01 -2.64473101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722414037 meters 0.0808886298801684 Centerline is valid? [True, True] Translation: X:135.36, Y:-10.35, Z:-2.64 [[ 9.99851258e-01 -1.39655490e-02 -1.01205301e-02 1.35355449e+02] [ 1.39728769e-02 9.99902161e-01 6.53719218e-04 -1.03454172e+01] [ 1.01104104e-02 -7.95034905e-04 9.99948572e-01 -2.64466624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782414037 meters 0.08194619726755996 Centerline is valid? [True, True] Translation: X:135.42, Y:-10.34, Z:-2.65 [[ 9.99784162e-01 -1.70847908e-02 -1.18211482e-02 1.35415947e+02] [ 1.70950063e-02 9.99853578e-01 7.63660151e-04 -1.03424106e+01] [ 1.18063703e-02 -9.65577927e-04 9.99929836e-01 -2.64691002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842414037 meters 0.08381155572964191 Centerline is valid? [True, True] Translation: X:135.48, Y:-10.34, Z:-2.65 [[ 9.99734610e-01 -1.99683720e-02 -1.14879920e-02 1.35476536e+02] [ 1.99782030e-02 9.99800141e-01 7.41625579e-04 -1.03387570e+01] [ 1.14708870e-02 -9.70938194e-04 9.99933736e-01 -2.64788396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902414037 meters 0.08271015449934628 Centerline is valid? [True, True] Translation: X:135.54, Y:-10.33, Z:-2.65 [[ 9.99714210e-01 -2.00192013e-02 -1.30663339e-02 1.35536133e+02] [ 2.00318260e-02 9.99798993e-01 8.36025239e-04 -1.03272808e+01] [ 1.30469709e-02 -1.09752884e-03 9.99914282e-01 -2.64814178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962414037 meters 0.0817798989697114 Centerline is valid? [True, True] Translation: X:135.60, Y:-10.32, Z:-2.65 [[ 9.99824907e-01 -1.55747530e-02 -1.03721929e-02 1.35597360e+02] [ 1.55825081e-02 9.99878363e-01 6.67277895e-04 -1.03168817e+01] [ 1.03605386e-02 -8.28785839e-04 9.99945985e-01 -2.64571060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02241403699998 meters 0.07889876909100309 Centerline is valid? [True, True] Translation: X:135.66, Y:-10.30, Z:-2.65 [[ 9.99891725e-01 -6.08857861e-03 -1.33965526e-02 1.35659002e+02] [ 6.10066768e-03 9.99981019e-01 8.61720400e-04 -1.03004812e+01] [ 1.33910516e-02 -9.43355013e-04 9.99909891e-01 -2.64720308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08241403699998 meters 0.07901902514562101 Centerline is valid? [True, True] Translation: X:135.72, Y:-10.30, Z:-2.65 [[ 9.99910976e-01 -2.46379141e-03 -1.31136971e-02 1.35718793e+02] [ 2.47505749e-03 9.99996582e-01 8.42947591e-04 -1.02986330e+01] [ 1.31115754e-02 -8.75329703e-04 9.99913656e-01 -2.64942285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14241403699998 meters 0.07598287972260166 Centerline is valid? [True, True] Translation: X:135.78, Y:-10.28, Z:-2.65 [[ 9.99875580e-01 9.24427055e-03 -1.27815462e-02 1.35780629e+02] [-9.23451804e-03 9.99957023e-01 8.21824071e-04 -1.02783078e+01] [ 1.27885941e-02 -7.03690401e-04 9.99917975e-01 -2.64927325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20241403699998 meters 0.07501540585380588 Centerline is valid? [True, True] Translation: X:135.84, Y:-10.27, Z:-2.65 [[ 9.99822736e-01 1.46425309e-02 -1.18360607e-02 1.35841501e+02] [-1.46345452e-02 9.99892620e-01 7.61024128e-04 -1.02743443e+01] [ 1.18459331e-02 -5.87673861e-04 9.99929662e-01 -2.65088305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26241403699999 meters 0.07363104051395322 Centerline is valid? [True, True] Translation: X:135.90, Y:-10.27, Z:-2.65 [[ 9.99737551e-01 1.96786434e-02 -1.17294323e-02 1.35902170e+02] [-1.96711503e-02 9.99806220e-01 7.53870644e-04 -1.02661270e+01] [ 1.17419945e-02 -5.22941366e-04 9.99930924e-01 -2.65026788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322414037 meters 0.07288693945313506 Centerline is valid? [True, True] Translation: X:135.96, Y:-10.26, Z:-2.65 [[ 9.99630720e-01 2.42231301e-02 -1.23151950e-02 1.35962199e+02] [-2.42152248e-02 9.99706456e-01 7.90646746e-04 -1.02610195e+01] [ 1.23307318e-02 -4.92139562e-04 9.99923853e-01 -2.65124089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382414037 meters 0.07291238948209271 Centerline is valid? [True, True] Translation: X:136.02, Y:-10.26, Z:-2.65 [[ 9.99593793e-01 2.68267706e-02 -9.62148073e-03 1.36020754e+02] [-2.68220752e-02 9.99640033e-01 6.16745708e-04 -1.02615540e+01] [ 9.63456261e-03 -3.58427103e-04 9.99953522e-01 -2.65319470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442414037 meters 0.07384482682472882 Centerline is valid? [True, True] Translation: X:136.08, Y:-10.27, Z:-2.66 [[ 9.99795438e-01 1.82670398e-02 -8.68322452e-03 1.36080106e+02] [-1.82628896e-02 9.99833064e-01 5.57014609e-04 -1.02731247e+01] [ 8.69194999e-03 -3.98319894e-04 9.99962145e-01 -2.65562134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502414037 meters 0.07621967370557278 Centerline is valid? [True, True] Translation: X:136.14, Y:-10.28, Z:-2.66 [[ 9.99920100e-01 7.56336838e-03 -1.01285897e-02 1.36140029e+02] [-7.55716987e-03 9.99971233e-01 6.50115103e-04 -1.02847609e+01] [ 1.01332154e-02 -5.73519686e-04 9.99948493e-01 -2.65878857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562414037 meters 0.07730131002108687 Centerline is valid? [True, True] Translation: X:136.20, Y:-10.29, Z:-2.66 [[ 9.99968879e-01 4.20034377e-03 -6.67814111e-03 1.36198856e+02] [-4.19758320e-03 9.99991099e-01 4.27337428e-04 -1.02923944e+01] [ 6.67987663e-03 -3.99292076e-04 9.99977610e-01 -2.65846657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622414037 meters 0.0775198029950923 Centerline is valid? [True, True] Translation: X:136.26, Y:-10.30, Z:-2.66 [[ 9.99942587e-01 4.05915532e-03 -9.91696371e-03 1.36257675e+02] [-4.05306112e-03 9.99991585e-01 6.34543232e-04 -1.02982327e+01] [ 9.91945596e-03 -5.94312740e-04 9.99950624e-01 -2.65966454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682414037 meters 0.07770599476384797 Centerline is valid? [True, True] Translation: X:136.32, Y:-10.30, Z:-2.66 [[ 9.99918207e-01 7.17244941e-03 -1.05894025e-02 1.36316680e+02] [-7.16567433e-03 9.99974097e-01 6.77601133e-04 -1.03042188e+01] [ 1.05939882e-02 -6.01665500e-04 9.99943701e-01 -2.66300790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74241403699997 meters 0.07466706208912034 Centerline is valid? [True, True] Translation: X:136.38, Y:-10.30, Z:-2.66 [[ 9.99764542e-01 1.58864580e-02 -1.47810814e-02 1.36377505e+02] [-1.58741951e-02 9.99873549e-01 9.46593879e-04 -1.02993379e+01] [ 1.47942503e-02 -7.11733227e-04 9.99890306e-01 -2.66347033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80241403699998 meters 0.07278531707099886 Centerline is valid? [True, True] Translation: X:136.44, Y:-10.30, Z:-2.67 [[ 9.99485847e-01 2.85109524e-02 -1.46685557e-02 1.36438349e+02] [-2.85002347e-02 9.99593345e-01 9.39225288e-04 -1.02950539e+01] [ 1.46893689e-02 -5.20685102e-04 9.99891970e-01 -2.66636954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86241403699998 meters 0.07063797628449862 Centerline is valid? [True, True] Translation: X:136.50, Y:-10.30, Z:-2.66 [[ 9.99138372e-01 4.07995835e-02 -7.60974590e-03 1.36499160e+02] [-4.07970554e-02 9.99167335e-01 4.87216049e-04 -1.02957109e+01] [ 7.62328774e-03 -1.76341025e-04 9.99970927e-01 -2.66136689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92241403699998 meters 0.07002051022414495 Centerline is valid? [True, True] Translation: X:136.56, Y:-10.30, Z:-2.66 [[ 9.98983243e-01 4.42205887e-02 -8.77611959e-03 1.36558230e+02] [-4.42173745e-02 9.99021777e-01 5.60036769e-04 -1.03000392e+01] [ 8.79229974e-03 -1.71410381e-04 9.99961332e-01 -2.66117711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98241403699998 meters 0.07025273655234572 Centerline is valid? [True, True] Translation: X:136.62, Y:-10.31, Z:-2.66 [[ 9.99106422e-01 4.07700976e-02 -1.11425845e-02 1.36616699e+02] [-4.07647006e-02 9.99168521e-01 7.11145462e-04 -1.03140008e+01] [ 1.11623132e-02 -2.56285877e-04 9.99937667e-01 -2.66351440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042414037 meters 0.07037287319698109 Centerline is valid? [True, True] Translation: X:136.67, Y:-10.33, Z:-2.67 [[ 9.99243463e-01 3.76537449e-02 -9.73128966e-03 1.36674514e+02] [-3.76494918e-02 9.99290814e-01 6.19950186e-04 -1.03278263e+01] [ 9.74773181e-03 -2.53103060e-04 9.99952458e-01 -2.66670603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102414037 meters 0.07077157824351528 Centerline is valid? [True, True] Translation: X:136.73, Y:-10.34, Z:-2.67 [[ 9.99460441e-01 3.17401151e-02 -8.44942266e-03 1.36733167e+02] [-3.17366961e-02 9.99496119e-01 5.38458567e-04 -1.03423640e+01] [ 8.46225589e-03 -2.70011278e-04 9.99964158e-01 -2.66845605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162414037 meters 0.07078963155599372 Centerline is valid? [True, True] Translation: X:136.79, Y:-10.36, Z:-2.67 [[ 9.99544064e-01 2.99480289e-02 -3.84455728e-03 1.36790036e+02] [-2.99473141e-02 9.99551449e-01 2.43358373e-04 -1.03589414e+01] [ 3.85012091e-03 -1.28113253e-04 9.99992580e-01 -2.66875938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222414037 meters 0.07059489691909081 Centerline is valid? [True, True] Translation: X:136.85, Y:-10.37, Z:-2.67 [[ 9.99523147e-01 3.06044819e-02 -4.10416940e-03 1.36848475e+02] [-3.06036723e-02 9.99531564e-01 2.59925772e-04 -1.03693887e+01] [ 4.11020175e-03 -1.34199170e-04 9.99991544e-01 -2.67023588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282414037 meters 0.07039849949739015 Centerline is valid? [True, True] Translation: X:136.91, Y:-10.38, Z:-2.68 [[ 9.99350836e-01 3.48029164e-02 -9.30935338e-03 1.36905968e+02] [-3.47989327e-02 9.99394160e-01 5.89619570e-04 -1.03784916e+01] [ 9.32423388e-03 -2.65281248e-04 9.99956493e-01 -2.67539073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342414037 meters 0.07002815867972317 Centerline is valid? [True, True] Translation: X:136.96, Y:-10.39, Z:-2.68 [[ 9.99149291e-01 3.96716956e-02 -1.12627888e-02 1.36964817e+02] [-3.96661648e-02 9.99212733e-01 7.14120886e-04 -1.03870920e+01] [ 1.12822524e-02 -2.66761739e-04 9.99936318e-01 -2.67899402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402414037 meters 0.06930412803754554 Centerline is valid? [True, True] Translation: X:137.02, Y:-10.40, Z:-2.68 [[ 9.98985787e-01 4.43888483e-02 -7.55171399e-03 1.37023891e+02] [-4.43864951e-02 9.99014319e-01 4.79013318e-04 -1.03993088e+01] [ 7.56553326e-03 -1.43333380e-04 9.99971371e-01 -2.67898214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462414037 meters 0.06882604920467449 Centerline is valid? [True, True] Translation: X:137.08, Y:-10.41, Z:-2.68 [[ 9.98842169e-01 4.74694086e-02 -7.80873620e-03 1.37082071e+02] [-4.74669985e-02 9.98872685e-01 4.93788841e-04 -1.04064105e+01] [ 7.82337316e-03 -1.22559847e-04 9.99969389e-01 -2.67865440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52241403699998 meters 0.06845175523189022 Centerline is valid? [True, True] Translation: X:137.14, Y:-10.42, Z:-2.68 [[ 9.98423634e-01 5.56777041e-02 -7.08803265e-03 1.37140825e+02] [-5.56759375e-02 9.98448792e-01 4.46466512e-04 -1.04184894e+01] [ 7.10189587e-03 -5.11298547e-05 9.99974780e-01 -2.68253997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58241403699998 meters 0.06745543289617612 Centerline is valid? [True, True] Translation: X:137.20, Y:-10.43, Z:-2.68 [[ 9.98121492e-01 6.12338088e-02 1.97666101e-03 1.37198852e+02] [-6.12336794e-02 9.98123450e-01 -1.25959221e-04 -1.04302684e+01] [-1.98066467e-03 4.68437918e-06 9.99998038e-01 -2.67919054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64241403699998 meters 0.06778682728955115 Centerline is valid? [True, True] Translation: X:137.26, Y:-10.45, Z:-2.68 [[ 9.98016622e-01 6.28868029e-02 -2.84122618e-03 1.37257611e+02] [-6.28865484e-02 9.98020666e-01 1.78932496e-04 -1.04484265e+01] [ 2.84685494e-03 9.73024436e-08 9.99995948e-01 -2.68384826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70241403699998 meters 0.06781719868460731 Centerline is valid? [True, True] Translation: X:137.31, Y:-10.47, Z:-2.69 [[ 9.97982826e-01 6.34005515e-02 -3.26317277e-03 1.37314483e+02] [-6.34002221e-02 9.97988161e-01 2.04396486e-04 -1.04668259e+01] [ 3.26956664e-03 2.90169571e-06 9.99994655e-01 -2.68712119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76241403699999 meters 0.0672103238039309 Centerline is valid? [True, True] Translation: X:137.37, Y:-10.49, Z:-2.68 [[ 9.97801755e-01 6.62289033e-02 2.32183638e-03 1.37372457e+02] [-6.62287397e-02 9.97804456e-01 -1.47349860e-04 -1.04873361e+01] [-2.32649750e-03 -6.74634878e-06 9.99997294e-01 -2.68485492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822414037 meters 0.06703952503448597 Centerline is valid? [True, True] Translation: X:137.43, Y:-10.50, Z:-2.68 [[ 9.97636396e-01 6.86704155e-02 2.44843359e-03 1.37429059e+02] [-6.86702402e-02 9.97639401e-01 -1.55724137e-04 -1.05047250e+01] [-2.45334746e-03 -1.27784560e-05 9.99996990e-01 -2.68400769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882414037 meters 0.06708012669921759 Centerline is valid? [True, True] Translation: X:137.49, Y:-10.53, Z:-2.69 [[ 9.97616100e-01 6.90042393e-02 -7.29661715e-04 1.37486221e+02] [-6.90042251e-02 9.97616367e-01 4.47095852e-05 -1.05323525e+01] [ 7.31007619e-04 5.74673922e-06 9.99999733e-01 -2.68751408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942414037 meters 0.06741251758180024 Centerline is valid? [True, True] Translation: X:137.54, Y:-10.55, Z:-2.69 [[ 9.97782202e-01 6.64622262e-02 -3.66733030e-03 1.37543021e+02] [-6.64618359e-02 9.97788942e-01 2.28342977e-04 -1.05515347e+01] [ 3.67439780e-03 1.59009457e-05 9.99993249e-01 -2.69340138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002414037 meters 0.06740238904457525 Centerline is valid? [True, True] Translation: X:137.60, Y:-10.57, Z:-2.69 [[ 9.98063979e-01 6.19631195e-02 -5.37274013e-03 1.37600107e+02] [-6.19622160e-02 9.98078440e-01 3.34617785e-04 -1.05735326e+01] [ 5.38315004e-03 -1.06307383e-06 9.99985511e-01 -2.69161032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062414037 meters 0.06827748791234863 Centerline is valid? [True, True] Translation: X:137.66, Y:-10.60, Z:-2.69 [[ 9.98522858e-01 5.38302896e-02 -7.37574445e-03 1.37657880e+02] [-5.38283506e-02 9.98550097e-01 4.61293600e-04 -1.06002417e+01] [ 7.38988191e-03 -6.35880452e-05 9.99972692e-01 -2.69469746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122414037 meters 0.07070173272097419 Centerline is valid? [True, True] Translation: X:137.72, Y:-10.64, Z:-2.69 [[ 9.99254964e-01 3.83266658e-02 -4.53686524e-03 1.37716302e+02] [-3.83257701e-02 9.99265257e-01 2.84224192e-04 -1.06382283e+01] [ 4.54442517e-03 -1.10133580e-04 9.99989668e-01 -2.69246541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182414037 meters 0.07400448257859363 Centerline is valid? [True, True] Translation: X:137.78, Y:-10.66, Z:-2.69 [[ 9.99677746e-01 2.53708015e-02 -8.52903874e-04 1.37775064e+02] [-2.53707651e-02 9.99678109e-01 5.35081515e-05 -1.06644942e+01] [ 8.53986876e-04 -3.18520845e-05 9.99999635e-01 -2.68724234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24241403699997 meters 0.07522412823657638 Centerline is valid? [True, True] Translation: X:137.84, Y:-10.67, Z:-2.69 [[ 9.99752705e-01 2.09438435e-02 -7.47553733e-03 1.37835126e+02] [-2.09409250e-02 9.99780605e-01 4.68473014e-04 -1.06748174e+01] [ 7.48370886e-03 -3.11812497e-04 9.99971948e-01 -2.69208003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30241403699998 meters 0.07723288594077173 Centerline is valid? [True, True] Translation: X:137.89, Y:-10.69, Z:-2.70 [[ 9.99801457e-01 1.73821623e-02 -9.74202759e-03 1.37893843e+02] [-1.73770440e-02 9.99848822e-01 6.09792154e-04 -1.06867636e+01] [ 9.75115431e-03 -4.40383443e-04 9.99952359e-01 -2.69629531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36241403699998 meters 0.07904403719949883 Centerline is valid? [True, True] Translation: X:137.95, Y:-10.70, Z:-2.70 [[ 9.99883709e-01 1.29431501e-02 -8.06490776e-03 1.37952227e+02] [-1.29395094e-02 9.99916154e-01 5.03446006e-04 -1.06989908e+01] [ 8.07074773e-03 -3.99031510e-04 9.99967351e-01 -2.69692680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42241403699998 meters 0.08002341170255726 Centerline is valid? [True, True] Translation: X:138.01, Y:-10.71, Z:-2.70 [[ 9.99929198e-01 1.01982038e-02 -6.13158746e-03 1.38011452e+02] [-1.01960488e-02 9.99947946e-01 3.82617235e-04 -1.07054773e+01] [ 6.13517029e-03 -3.20072180e-04 9.99981128e-01 -2.69573042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48241403699998 meters 0.07933306934126479 Centerline is valid? [True, True] Translation: X:138.07, Y:-10.71, Z:-2.69 [[ 9.99940920e-01 9.48017642e-03 -5.31819787e-03 1.38070715e+02] [-9.47855238e-03 9.99955023e-01 3.30497212e-04 -1.07071139e+01] [ 5.32109184e-03 -2.80068869e-04 9.99985804e-01 -2.69217075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542414037 meters 0.07173060230452237 Centerline is valid? [True, True] Translation: X:138.13, Y:-10.69, Z:-2.69 [[ 9.99883332e-01 5.03554490e-03 -1.44210221e-02 1.38132595e+02] [-5.02308934e-03 9.99986979e-01 8.99799192e-04 -1.06856310e+01] [ 1.44253653e-02 -8.27256132e-04 9.99895607e-01 -2.68558169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602414037 meters 0.07835284870117763 Centerline is valid? [True, True] Translation: X:138.19, Y:-10.70, Z:-2.69 [[ 9.99882542e-01 -1.38232341e-03 -1.52640668e-02 1.38190719e+02] [ 1.39703309e-03 9.99998570e-01 9.53059206e-04 -1.07022075e+01] [ 1.52627275e-02 -9.74271668e-04 9.99883043e-01 -2.69442046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662414037 meters 0.07929907213416404 Centerline is valid? [True, True] Translation: X:138.25, Y:-10.70, Z:-2.69 [[ 9.99736377e-01 -1.78857116e-02 -1.43971251e-02 1.38251058e+02] [ 1.79004956e-02 9.99839369e-01 8.98648465e-04 -1.06990733e+01] [ 1.43787395e-02 -1.15612723e-03 9.99895952e-01 -2.69239940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722414037 meters 0.07994878983784075 Centerline is valid? [True, True] Translation: X:138.31, Y:-10.69, Z:-2.69 [[ 9.99497070e-01 -2.92636225e-02 -1.22166933e-02 1.38312549e+02] [ 2.92751091e-02 9.99571101e-01 7.62431276e-04 -1.06885930e+01] [ 1.21891421e-02 -1.11969286e-03 9.99925083e-01 -2.69210729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782414037 meters 0.08327809402587183 Centerline is valid? [True, True] Translation: X:138.37, Y:-10.68, Z:-2.69 [[ 9.99400399e-01 -3.37321228e-02 -7.80937848e-03 1.38372417e+02] [ 3.37369524e-02 9.99430628e-01 4.87487798e-04 -1.06800049e+01] [ 7.78848804e-03 -7.50660129e-04 9.99969388e-01 -2.69335357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842414037 meters 0.08423904761837547 Centerline is valid? [True, True] Translation: X:138.43, Y:-10.67, Z:-2.69 [[ 9.99384683e-01 -3.46271096e-02 -5.58728545e-03 1.38430685e+02] [ 3.46295571e-02 9.99400159e-01 3.41880983e-04 -1.06697807e+01] [ 5.57209561e-03 -5.35155838e-04 9.99984333e-01 -2.69464316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902414037 meters 0.08449694361357092 Centerline is valid? [True, True] Translation: X:138.49, Y:-10.65, Z:-2.70 [[ 9.99398143e-01 -3.36286263e-02 -8.51280579e-03 1.38490842e+02] [ 3.36342834e-02 9.99434071e-01 5.22203771e-04 -1.06459229e+01] [ 8.49042715e-03 -8.08211601e-04 9.99963629e-01 -2.70180813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962414037 meters 0.0844306257505526 Centerline is valid? [True, True] Translation: X:138.55, Y:-10.63, Z:-2.71 [[ 9.99396844e-01 -3.33700979e-02 -9.61171188e-03 1.38551036e+02] [ 3.33773106e-02 9.99442648e-01 5.90930424e-04 -1.06324103e+01] [ 9.58663537e-03 -9.11387094e-04 9.99953632e-01 -2.70548319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02241403699998 meters 0.08680037944028084 Centerline is valid? [True, True] Translation: X:138.61, Y:-10.62, Z:-2.71 [[ 9.99364114e-01 -3.43440542e-02 -9.58407451e-03 1.38610275e+02] [ 3.43512800e-02 9.99409646e-01 5.90294719e-04 -1.06193984e+01] [ 9.55814340e-03 -9.19144586e-04 9.99953897e-01 -2.71225653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08241403699998 meters 0.0882116744174002 Centerline is valid? [True, True] Translation: X:138.67, Y:-10.61, Z:-2.72 [[ 9.99321738e-01 -3.49769934e-02 -1.15183740e-02 1.38670130e+02] [ 3.49874676e-02 9.99387500e-01 7.09039406e-04 -1.06116011e+01] [ 1.14865189e-02 -1.11155723e-03 9.99933410e-01 -2.71583337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14241403699998 meters 0.08926756954285273 Centerline is valid? [True, True] Translation: X:138.73, Y:-10.60, Z:-2.72 [[ 9.99372806e-01 -3.41636064e-02 -9.31891100e-03 1.38731109e+02] [ 3.41704300e-02 9.99415856e-01 5.73946426e-04 -1.05985120e+01] [ 9.29385933e-03 -8.92017646e-04 9.99956413e-01 -2.71824017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20241403699998 meters 0.08681881678156157 Centerline is valid? [True, True] Translation: X:138.79, Y:-10.58, Z:-2.72 [[ 9.99374843e-01 -3.38210273e-02 -1.02985977e-02 1.38791986e+02] [ 3.38293363e-02 9.99427423e-01 6.33627384e-04 -1.05830060e+01] [ 1.02712710e-02 -9.81625992e-04 9.99946767e-01 -2.71839623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26241403699999 meters 0.08941023894330903 Centerline is valid? [True, True] Translation: X:138.85, Y:-10.57, Z:-2.72 [[ 9.99255060e-01 -3.62267192e-02 -1.33022273e-02 1.38852568e+02] [ 3.62407973e-02 9.99342751e-01 8.18722294e-04 -1.05695182e+01] [ 1.32638248e-02 -1.30019572e-03 9.99911186e-01 -2.72120682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322414037 meters 0.08486761001808336 Centerline is valid? [True, True] Translation: X:138.91, Y:-10.54, Z:-2.72 [[ 9.99190679e-01 -3.80336269e-02 -1.30931265e-02 1.38914759e+02] [ 3.80474235e-02 9.99275609e-01 8.06160113e-04 -1.05443966e+01] [ 1.30529808e-02 -1.30366740e-03 9.99913956e-01 -2.71908060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382414037 meters 0.08511349074381935 Centerline is valid? [True, True] Translation: X:138.97, Y:-10.53, Z:-2.72 [[ 9.99330460e-01 -3.42930875e-02 -1.27520784e-02 1.38974626e+02] [ 3.43058618e-02 9.99411073e-01 7.84286553e-04 -1.05347902e+01] [ 1.27176727e-02 -1.22123248e-03 9.99918381e-01 -2.71838956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442414037 meters 0.08321045824304146 Centerline is valid? [True, True] Translation: X:139.04, Y:-10.51, Z:-2.72 [[ 9.99690112e-01 -2.09773013e-02 -1.34027051e-02 1.39035975e+02] [ 2.09902317e-02 9.99779341e-01 8.24810242e-04 -1.05128560e+01] [ 1.33824454e-02 -1.10588053e-03 9.99909840e-01 -2.71930121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502414037 meters 0.07739663567579878 Centerline is valid? [True, True] Translation: X:139.10, Y:-10.49, Z:-2.72 [[ 9.99821150e-01 -8.06443358e-03 -1.71064973e-02 1.39097727e+02] [ 8.08361873e-03 9.99966773e-01 1.05266197e-03 -1.04903986e+01] [ 1.70974397e-02 -1.19075611e-03 9.99853119e-01 -2.71951269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562414037 meters 0.07329820813688462 Centerline is valid? [True, True] Translation: X:139.16, Y:-10.46, Z:-2.72 [[ 9.99784563e-01 1.32595492e-02 -1.59691185e-02 1.39159621e+02] [-1.32455436e-02 9.99911791e-01 9.82495181e-04 -1.04623622e+01] [ 1.59807373e-02 -7.70763860e-04 9.99872003e-01 -2.71879423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622414037 meters 0.07061389879119193 Centerline is valid? [True, True] Translation: X:139.22, Y:-10.44, Z:-2.72 [[ 9.99400101e-01 3.12443501e-02 -1.49408148e-02 1.39221842e+02] [-3.12340940e-02 9.99511674e-01 9.19359053e-04 -1.04412441e+01] [ 1.49622436e-02 -4.52144718e-04 9.99887957e-01 -2.71685715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682414037 meters 0.06970067095637572 Centerline is valid? [True, True] Translation: X:139.28, Y:-10.44, Z:-2.72 [[ 9.99095070e-01 3.96220454e-02 -1.54639563e-02 1.39281889e+02] [-3.96120798e-02 9.99214682e-01 9.50327441e-04 -1.04377270e+01] [ 1.54894660e-02 -3.36907991e-04 9.99879974e-01 -2.71637906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74241403699997 meters 0.0692004616926703 Centerline is valid? [True, True] Translation: X:139.34, Y:-10.44, Z:-2.72 [[ 9.98705505e-01 4.88759429e-02 -1.40874820e-02 1.39341439e+02] [-4.88686002e-02 9.98804841e-01 8.65194880e-04 -1.04352552e+01] [ 1.41129324e-02 -1.75639365e-04 9.99900392e-01 -2.71770789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80241403699998 meters 0.06942403596653106 Centerline is valid? [True, True] Translation: X:139.40, Y:-10.44, Z:-2.72 [[ 9.98514183e-01 5.22612055e-02 -1.54334907e-02 1.39399281e+02] [-5.22529312e-02 9.98633441e-01 9.39161764e-04 -1.04386593e+01] [ 1.54614816e-02 -1.31321216e-04 9.99880456e-01 -2.72107054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86241403699998 meters 0.06933471138290542 Centerline is valid? [True, True] Translation: X:139.46, Y:-10.45, Z:-2.73 [[ 9.98338716e-01 5.57048366e-02 -1.47234173e-02 1.39457099e+02] [-5.56977257e-02 9.98447278e-01 8.92892439e-04 -1.04502706e+01] [ 1.47502943e-02 -7.13482355e-05 9.99891206e-01 -2.72631731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92241403699998 meters 0.06908272025689752 Centerline is valid? [True, True] Translation: X:139.52, Y:-10.46, Z:-2.73 [[ 9.98317879e-01 5.64322412e-02 -1.32971418e-02 1.39515308e+02] [-5.64265548e-02 9.98406430e-01 8.02726817e-04 -1.04557741e+01] [ 1.33212515e-02 -5.10646335e-05 9.99911267e-01 -2.72579993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98241403699998 meters 0.06888936459311522 Centerline is valid? [True, True] Translation: X:139.57, Y:-10.46, Z:-2.73 [[ 9.98017093e-01 6.10838222e-02 -1.51871459e-02 1.39572866e+02] [-6.10769305e-02 9.98132640e-01 9.17621921e-04 -1.04640525e+01] [ 1.52148379e-02 1.17818951e-05 9.99884248e-01 -2.72580526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042414037 meters 0.06897011869464517 Centerline is valid? [True, True] Translation: X:139.63, Y:-10.48, Z:-2.73 [[ 9.97979540e-01 6.08062897e-02 -1.84237253e-02 1.39631815e+02] [-6.07960704e-02 9.98149586e-01 1.11478668e-03 -1.04783801e+01] [ 1.84574198e-02 7.55580727e-06 9.99829647e-01 -2.72928554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102414037 meters 0.06858025587483912 Centerline is valid? [True, True] Translation: X:139.69, Y:-10.51, Z:-2.73 [[ 9.98317908e-01 5.53378343e-02 -1.72938975e-02 1.39688873e+02] [-5.53281507e-02 9.98467685e-01 1.03826498e-03 -1.05067195e+01] [ 1.73248532e-02 -7.96791503e-05 9.99849910e-01 -2.72893373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162414037 meters 0.06879030267487171 Centerline is valid? [True, True] Translation: X:139.75, Y:-10.52, Z:-2.74 [[ 9.98565017e-01 4.98823328e-02 -1.94848598e-02 1.39745770e+02] [-4.98689616e-02 9.98755082e-01 1.17182406e-03 -1.05242422e+01] [ 1.95190560e-02 -1.98452793e-04 9.99809465e-01 -2.73524309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222414037 meters 0.06969802505846051 Centerline is valid? [True, True] Translation: X:139.80, Y:-10.55, Z:-2.74 [[ 9.98979688e-01 4.10151844e-02 -1.89033530e-02 1.39803800e+02] [-4.10010079e-02 9.99158458e-01 1.13706637e-03 -1.05539067e+01] [ 1.89340821e-02 -3.60849678e-04 9.99820669e-01 -2.74103498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282414037 meters 0.06951692909411332 Centerline is valid? [True, True] Translation: X:139.86, Y:-10.59, Z:-2.74 [[ 9.99389713e-01 3.16833991e-02 -1.47093054e-02 1.39860802e+02] [-3.16738327e-02 9.99497868e-01 8.82929280e-04 -1.05859345e+01] [ 1.47298936e-02 -4.16490362e-04 9.99891422e-01 -2.73739212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342414037 meters 0.06934874301370139 Centerline is valid? [True, True] Translation: X:139.92, Y:-10.60, Z:-2.74 [[ 9.99516449e-01 2.85876237e-02 -1.22317674e-02 1.39918521e+02] [-2.85807903e-02 9.99591217e-01 7.33139391e-04 -1.06015785e+01] [ 1.22477260e-02 -3.83191301e-04 9.99924920e-01 -2.73594715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402414037 meters 0.06915699941746668 Centerline is valid? [True, True] Translation: X:139.98, Y:-10.62, Z:-2.74 [[ 9.99491366e-01 2.95956540e-02 -1.18788561e-02 1.39976391e+02] [-2.95892908e-02 9.99561888e-01 7.11101118e-04 -1.06215781e+01] [ 1.18946973e-02 -3.59252501e-04 9.99929191e-01 -2.73564933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462414037 meters 0.0691664678885362 Centerline is valid? [True, True] Translation: X:140.03, Y:-10.64, Z:-2.74 [[ 9.99509241e-01 2.99589506e-02 -9.15085555e-03 1.40034394e+02] [-2.99551982e-02 9.99551093e-01 5.46877905e-04 -1.06393493e+01] [ 9.16313155e-03 -2.72493829e-04 9.99957981e-01 -2.73638482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52241403699998 meters 0.06823463149903354 Centerline is valid? [True, True] Translation: X:140.09, Y:-10.65, Z:-2.73 [[ 9.99388467e-01 3.44842792e-02 -5.79024378e-03 1.40094213e+02] [-3.44828505e-02 9.99405230e-01 3.46427467e-04 -1.06498105e+01] [ 5.79874622e-03 -1.46551505e-04 9.99983176e-01 -2.73475865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58241403699998 meters 0.06817227922337298 Centerline is valid? [True, True] Translation: X:140.15, Y:-10.66, Z:-2.74 [[ 9.99090892e-01 4.11423532e-02 -1.11667628e-02 1.40151549e+02] [-4.11374827e-02 9.99153274e-01 6.65599452e-04 -1.06560479e+01] [ 1.11846920e-02 -2.05621837e-04 9.99937428e-01 -2.73928299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64241403699998 meters 0.0679493925701742 Centerline is valid? [True, True] Translation: X:140.21, Y:-10.67, Z:-2.74 [[ 9.98709673e-01 4.94314749e-02 -1.16412012e-02 1.40209466e+02] [-4.94267451e-02 9.98777510e-01 6.93822478e-04 -1.06700912e+01] [ 1.16612667e-02 -1.17540534e-04 9.99931998e-01 -2.74298979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70241403699998 meters 0.06708012845227962 Centerline is valid? [True, True] Translation: X:140.27, Y:-10.68, Z:-2.74 [[ 9.98705189e-01 5.07266847e-02 -3.84038553e-03 1.40269165e+02] [-5.07261794e-02 9.98712572e-01 2.28931045e-04 -1.06793119e+01] [ 3.84705422e-03 -3.38265370e-05 9.99992599e-01 -2.73820059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76241403699999 meters 0.06712578865330997 Centerline is valid? [True, True] Translation: X:140.33, Y:-10.70, Z:-2.74 [[ 9.98759504e-01 4.93850481e-02 -6.36945268e-03 1.40326619e+02] [-4.93836413e-02 9.98779812e-01 3.78047296e-04 -1.06984634e+01] [ 6.38035063e-03 -6.30315634e-05 9.99979643e-01 -2.73670526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822414037 meters 0.0673606830560393 Centerline is valid? [True, True] Translation: X:140.38, Y:-10.72, Z:-2.74 [[ 9.98676551e-01 5.05073526e-02 -9.70324357e-03 1.40383992e+02] [-5.05041410e-02 9.98723686e-01 5.75883944e-04 -1.07153071e+01] [ 9.71994556e-03 -8.50678093e-05 9.99952757e-01 -2.73713103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882414037 meters 0.06697600586816364 Centerline is valid? [True, True] Translation: X:140.44, Y:-10.74, Z:-2.74 [[ 9.98518063e-01 5.40236643e-02 -6.56663693e-03 1.40441773e+02] [-5.40222730e-02 9.98539655e-01 3.89194080e-04 -1.07384315e+01] [ 6.57807306e-03 -3.38726663e-05 9.99978364e-01 -2.74319356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942414037 meters 0.06648469067290523 Centerline is valid? [True, True] Translation: X:140.50, Y:-10.75, Z:-2.74 [[ 9.98364010e-01 5.70621421e-02 -3.63544404e-03 1.40498832e+02] [-5.70617422e-02 9.98370629e-01 2.13728405e-04 -1.07507203e+01] [ 3.64171636e-03 -5.93397660e-06 9.99993369e-01 -2.74016762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002414037 meters 0.06730925763886116 Centerline is valid? [True, True] Translation: X:140.56, Y:-10.77, Z:-2.75 [[ 9.97850237e-01 6.47977282e-02 -9.80607213e-03 1.40556214e+02] [-6.47951519e-02 9.97898417e-01 5.80533954e-04 -1.07668557e+01] [ 9.82308114e-03 5.60999888e-05 9.99951751e-01 -2.74671889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062414037 meters 0.06793297587252072 Centerline is valid? [True, True] Translation: X:140.61, Y:-10.78, Z:-2.75 [[ 9.97511896e-01 6.94244852e-02 -1.22580238e-02 1.40614615e+02] [-6.94208197e-02 9.97587201e-01 7.24786632e-04 -1.07807041e+01] [ 1.22787656e-02 1.27978774e-04 9.99924605e-01 -2.74998130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122414037 meters 0.06704980424108507 Centerline is valid? [True, True] Translation: X:140.67, Y:-10.80, Z:-2.74 [[ 9.97159686e-01 7.43626794e-02 -1.19478829e-02 1.40670863e+02] [-7.43595844e-02 9.97231246e-01 7.03683225e-04 -1.08038161e+01] [ 1.19671300e-02 1.86755066e-04 9.99928374e-01 -2.73975434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182414037 meters 0.0670570454145303 Centerline is valid? [True, True] Translation: X:140.73, Y:-10.82, Z:-2.74 [[ 9.96945876e-01 7.73380898e-02 -1.08508225e-02 1.40729175e+02] [-7.73357113e-02 9.97004904e-01 6.39248166e-04 -1.08186021e+01] [ 1.08677614e-02 2.01860250e-04 9.99940924e-01 -2.74025005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24241403699997 meters 0.06675622659916437 Centerline is valid? [True, True] Translation: X:140.79, Y:-10.84, Z:-2.74 [[ 9.96837733e-01 7.91558689e-02 -6.99156622e-03 1.40787709e+02] [-7.91549266e-02 9.96862241e-01 4.11828447e-04 -1.08442694e+01] [ 7.00222701e-03 1.42890775e-04 9.99975474e-01 -2.73810997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30241403699998 meters 0.06623259166961332 Centerline is valid? [True, True] Translation: X:140.85, Y:-10.87, Z:-2.74 [[ 9.96975099e-01 7.73842477e-02 -7.23395075e-03 1.40847901e+02] [-7.73831810e-02 9.97001334e-01 4.27663284e-04 -1.08665713e+01] [ 7.24535295e-03 1.33416475e-04 9.99973743e-01 -2.73634659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36241403699998 meters 0.06590857604889372 Centerline is valid? [True, True] Translation: X:140.91, Y:-10.90, Z:-2.74 [[ 9.97532436e-01 6.94354745e-02 -1.03804289e-02 1.40907727e+02] [-6.94327845e-02 9.97586440e-01 6.19734043e-04 -1.08986884e+01] [ 1.03984066e-02 1.02537271e-04 9.99945930e-01 -2.73986033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42241403699998 meters 0.06598035906911941 Centerline is valid? [True, True] Translation: X:140.97, Y:-10.94, Z:-2.74 [[ 9.98314539e-01 5.63269551e-02 -1.39769932e-02 1.40967821e+02] [-5.63207649e-02 9.98412376e-01 8.36415535e-04 -1.09367855e+01] [ 1.40019157e-02 -4.78108397e-05 9.99901967e-01 -2.73982132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48241403699998 meters 0.06591860928415483 Centerline is valid? [True, True] Translation: X:141.03, Y:-10.96, Z:-2.74 [[ 9.98736192e-01 4.91328478e-02 -1.05821587e-02 1.41028413e+02] [-4.91289157e-02 9.98792246e-01 6.31364154e-04 -1.09602445e+01] [ 1.06003988e-02 -1.10676247e-04 9.99943808e-01 -2.73635961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542414037 meters 0.06629628901889084 Centerline is valid? [True, True] Translation: X:141.09, Y:-10.99, Z:-2.74 [[ 9.98925038e-01 4.36901899e-02 -1.54898284e-02 1.41087644e+02] [-4.36811274e-02 9.99045098e-01 9.23068222e-04 -1.09863727e+01] [ 1.55153662e-02 -2.45462791e-04 9.99879599e-01 -2.73670376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602414037 meters 0.06632138207771243 Centerline is valid? [True, True] Translation: X:141.15, Y:-11.00, Z:-2.74 [[ 9.98822666e-01 4.52288623e-02 -1.75394665e-02 1.41148113e+02] [-4.52174608e-02 9.98976620e-01 1.04628282e-03 -1.09978789e+01] [ 1.75688391e-02 -2.51960857e-04 9.99845624e-01 -2.73790381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662414037 meters 0.06591490721715976 Centerline is valid? [True, True] Translation: X:141.21, Y:-11.01, Z:-2.74 [[ 9.98752265e-01 4.86021072e-02 -1.14781515e-02 1.41208253e+02] [-4.85974484e-02 9.98818211e-01 6.84614344e-04 -1.10120427e+01] [ 1.14978604e-02 -1.25951253e-04 9.99933889e-01 -2.73564444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722414037 meters 0.06589649531638139 Centerline is valid? [True, True] Translation: X:141.27, Y:-11.02, Z:-2.74 [[ 9.98713423e-01 4.96614008e-02 -1.02588067e-02 1.41268585e+02] [-4.96576710e-02 9.98766106e-01 6.18126296e-04 -1.10221417e+01] [ 1.02768454e-02 -1.07902584e-04 9.99947186e-01 -2.73684192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782414037 meters 0.06631614467179568 Centerline is valid? [True, True] Translation: X:141.33, Y:-11.03, Z:-2.74 [[ 9.98697364e-01 4.87399146e-02 -1.50995465e-02 1.41328963e+02] [-4.87318121e-02 9.98811490e-01 9.04294332e-04 -1.10346799e+01] [ 1.51256758e-02 -1.67288103e-04 9.99885586e-01 -2.73902430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842414037 meters 0.06661042555517334 Centerline is valid? [True, True] Translation: X:141.39, Y:-11.04, Z:-2.74 [[ 9.98707717e-01 4.73521533e-02 -1.84572239e-02 1.41389833e+02] [-4.73397931e-02 9.98878231e-01 1.10625707e-03 -1.10428653e+01] [ 1.84889028e-02 -2.31066313e-04 9.99829039e-01 -2.74165382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902414037 meters 0.06716425661115999 Centerline is valid? [True, True] Translation: X:141.45, Y:-11.05, Z:-2.75 [[ 9.98793347e-01 4.47666655e-02 -2.01939265e-02 1.41450331e+02] [-4.47511843e-02 9.98997421e-01 1.21809813e-03 -1.10517013e+01] [ 2.02282107e-02 -3.12926181e-04 9.99795340e-01 -2.74543721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962414037 meters 0.06744948352148043 Centerline is valid? [True, True] Translation: X:141.51, Y:-11.06, Z:-2.74 [[ 9.98979983e-01 4.00575840e-02 -2.08418785e-02 1.41510733e+02] [-4.00401411e-02 9.99197285e-01 1.25371183e-03 -1.10612464e+01] [ 2.08753691e-02 -4.17921270e-04 9.99781998e-01 -2.74377420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02241403699998 meters 0.06912946930553454 Centerline is valid? [True, True] Translation: X:141.57, Y:-11.08, Z:-2.75 [[ 9.99458718e-01 2.87281015e-02 -1.60302264e-02 1.41569686e+02] [-2.87162836e-02 9.99587135e-01 9.66965226e-04 -1.10800698e+01] [ 1.60513872e-02 -5.06113297e-04 9.99871040e-01 -2.74542466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08241403699998 meters 0.06988270428023023 Centerline is valid? [True, True] Translation: X:141.63, Y:-11.09, Z:-2.74 [[ 9.99779953e-01 1.84334589e-02 -1.00126234e-02 1.41629837e+02] [-1.84283380e-02 9.99830002e-01 6.03471825e-04 -1.10920765e+01] [ 1.00220453e-02 -4.18823025e-04 9.99949690e-01 -2.74184450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14241403699998 meters 0.07281630449558735 Centerline is valid? [True, True] Translation: X:141.69, Y:-11.11, Z:-2.74 [[ 9.99955574e-01 4.21431121e-03 -8.43144115e-03 1.41688397e+02] [-4.21017442e-03 9.99991008e-01 5.08328470e-04 -1.11051502e+01] [ 8.43350759e-03 -4.72808049e-04 9.99964326e-01 -2.74167560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20241403699998 meters 0.07288108904541515 Centerline is valid? [True, True] Translation: X:141.75, Y:-11.11, Z:-2.74 [[ 9.99930369e-01 -3.15558603e-04 -1.17965426e-02 1.41749123e+02] [ 3.23966582e-04 9.99999695e-01 7.10845355e-04 -1.11055366e+01] [ 1.17963147e-02 -7.14617543e-04 9.99930166e-01 -2.74427956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26241403699999 meters 0.07346672635132559 Centerline is valid? [True, True] Translation: X:141.81, Y:-11.10, Z:-2.75 [[ 9.99927242e-01 -1.03274045e-03 -1.20184919e-02 1.41808017e+02] [ 1.04149469e-03 9.99999197e-01 7.22161568e-04 -1.11045743e+01] [ 1.20177365e-02 -7.34626221e-04 9.99927515e-01 -2.74879390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322414037 meters 0.07202057895332374 Centerline is valid? [True, True] Translation: X:141.87, Y:-11.09, Z:-2.75 [[ 9.99966752e-01 -8.84357010e-05 -8.15398203e-03 1.41868736e+02] [ 9.24369180e-05 9.99999876e-01 4.90331546e-04 -1.10948959e+01] [ 8.15393765e-03 -4.91068972e-04 9.99966636e-01 -2.74987415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382414037 meters 0.07131347833812222 Centerline is valid? [True, True] Translation: X:141.93, Y:-11.09, Z:-2.75 [[ 9.99982523e-01 -4.81675924e-05 -5.91196783e-03 1.41927998e+02] [ 5.02615377e-05 9.99999936e-01 3.54039470e-04 -1.10890795e+01] [ 5.91195040e-03 -3.54330427e-04 9.99982461e-01 -2.75076936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442414037 meters 0.07267111884651484 Centerline is valid? [True, True] Translation: X:141.99, Y:-11.09, Z:-2.76 [[ 9.99967009e-01 -2.92248857e-03 -7.57891574e-03 1.41987359e+02] [ 2.92602237e-03 9.99995616e-01 4.55220836e-04 -1.10850270e+01] [ 7.57755213e-03 -4.77381895e-04 9.99971176e-01 -2.75544237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502414037 meters 0.07253448647563886 Centerline is valid? [True, True] Translation: X:142.05, Y:-11.07, Z:-2.76 [[ 9.99947406e-01 -7.75174502e-03 -6.71529030e-03 1.42048567e+02] [ 7.75462887e-03 9.99969851e-01 4.03514223e-04 -1.10730260e+01] [ 6.71195990e-03 -4.55567585e-04 9.99977371e-01 -2.75829989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562414037 meters 0.08728154303593938 Centerline is valid? [True, True] Translation: X:142.11, Y:-11.10, Z:-2.77 [[ 9.99934584e-01 -9.81189167e-03 -5.87828572e-03 1.42106084e+02] [ 9.81409289e-03 9.99951781e-01 3.45735957e-04 -1.10959944e+01] [ 5.87460996e-03 -4.03403383e-04 9.99982663e-01 -2.77109045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622414037 meters 0.09218493692014088 Centerline is valid? [True, True] Translation: X:142.17, Y:-11.09, Z:-2.77 [[ 9.99897727e-01 -1.42402440e-02 1.32289050e-03 1.42165082e+02] [ 1.42403632e-02 9.99898598e-01 -8.07598559e-05 -1.10927762e+01] [-1.32160631e-03 9.95900376e-05 9.99999122e-01 -2.76741459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682414037 meters 0.09136004311883547 Centerline is valid? [True, True] Translation: X:142.22, Y:-11.08, Z:-2.77 [[ 9.99859987e-01 -1.61655157e-02 4.32234552e-03 1.42224800e+02] [ 1.61667996e-02 9.99869274e-01 -2.62246996e-04 -1.10829561e+01] [-4.31754112e-03 3.32088771e-04 9.99990624e-01 -2.76541924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74241403699997 meters 0.0912862128876063 Centerline is valid? [True, True] Translation: X:142.29, Y:-11.07, Z:-2.78 [[ 9.99882263e-01 -1.51698777e-02 -2.30992695e-03 1.42285706e+02] [ 1.51702327e-02 9.99884916e-01 1.36269526e-04 -1.10660746e+01] [ 2.30759392e-03 -1.71295611e-04 9.99997323e-01 -2.77515242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80241403699998 meters 0.091992424563519 Centerline is valid? [True, True] Translation: X:142.34, Y:-11.06, Z:-2.78 [[ 9.99904558e-01 -1.33313179e-02 -3.62650236e-03 1.42344628e+02] [ 1.33321788e-02 9.99911100e-01 2.13318669e-04 -1.10581725e+01] [ 3.62333614e-03 -2.61647487e-04 9.99993401e-01 -2.77926708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86241403699998 meters 0.08872095211571049 Centerline is valid? [True, True] Translation: X:142.40, Y:-11.04, Z:-2.78 [[ 9.99916758e-01 -1.24122767e-02 -3.52321248e-03 1.42404362e+02] [ 1.24130656e-02 9.99922935e-01 2.02129486e-04 -1.10414504e+01] [ 3.52043208e-03 -2.45846528e-04 9.99993773e-01 -2.77867350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92241403699998 meters 0.08635951956569235 Centerline is valid? [True, True] Translation: X:142.46, Y:-11.03, Z:-2.78 [[ 9.99933364e-01 -1.02982686e-02 -5.21661304e-03 1.42464215e+02] [ 1.03000014e-02 9.99946907e-01 3.05419000e-04 -1.10285178e+01] [ 5.21319079e-03 -3.59129770e-04 9.99986347e-01 -2.78133259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98241403699998 meters 0.08486848660071793 Centerline is valid? [True, True] Translation: X:142.53, Y:-11.01, Z:-2.79 [[ 9.99949517e-01 -4.33824462e-03 -9.06323635e-03 1.42525169e+02] [ 4.34325583e-03 9.99990426e-01 5.33307266e-04 -1.10142280e+01] [ 9.06083596e-03 -5.72644298e-04 9.99958786e-01 -2.78853718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042414037 meters 0.08366281766644418 Centerline is valid? [True, True] Translation: X:142.58, Y:-11.01, Z:-2.79 [[ 9.99969066e-01 5.86643338e-04 -7.84371570e-03 1.42584572e+02] [-5.83045457e-04 9.99999724e-01 4.60974809e-04 -1.10079368e+01] [ 7.84398396e-03 -4.56387306e-04 9.99969131e-01 -2.78935364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102414037 meters 0.08023355302560817 Centerline is valid? [True, True] Translation: X:142.65, Y:-10.99, Z:-2.79 [[ 9.99959715e-01 8.71749141e-03 -2.13880698e-03 1.42645946e+02] [-8.71724220e-03 9.99961996e-01 1.25813338e-04 -1.09934928e+01] [ 2.13982248e-03 -1.07163771e-04 9.99997705e-01 -2.78673286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162414037 meters 0.07649838343696717 Centerline is valid? [True, True] Translation: X:142.71, Y:-10.98, Z:-2.79 [[ 9.99887240e-01 1.49244876e-02 -1.66312969e-03 1.42707335e+02] [-1.49243456e-02 9.99888621e-01 9.77340407e-05 -1.09794094e+01] [ 1.66440308e-03 -7.29018980e-05 9.99998612e-01 -2.78578245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222414037 meters 0.07500609181813248 Centerline is valid? [True, True] Translation: X:142.77, Y:-10.97, Z:-2.79 [[ 9.99837335e-01 1.80121543e-02 -9.30802306e-04 1.42768747e+02] [-1.80121107e-02 9.99837767e-01 5.51746557e-05 -1.09732643e+01] [ 9.31645113e-04 -3.83999666e-05 9.99999565e-01 -2.78695507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282414037 meters 0.07381589355797681 Centerline is valid? [True, True] Translation: X:142.83, Y:-10.97, Z:-2.78 [[ 9.99760637e-01 2.16158699e-02 3.37974738e-03 1.42829138e+02] [-2.16153209e-02 9.99766342e-01 -1.98883869e-04 -1.09655749e+01] [-3.38325672e-03 1.25781939e-04 9.99994269e-01 -2.78195073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342414037 meters 0.07242136558507846 Centerline is valid? [True, True] Translation: X:142.89, Y:-10.96, Z:-2.78 [[ 9.99686455e-01 2.50376300e-02 -3.30198627e-04 1.42891410e+02] [-2.50376230e-02 9.99686509e-01 2.52041132e-05 -1.09595559e+01] [ 3.30726164e-04 -1.69288218e-05 9.99999945e-01 -2.78417222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402414037 meters 0.07196351449595788 Centerline is valid? [True, True] Translation: X:142.95, Y:-10.96, Z:-2.79 [[ 9.99575752e-01 2.87204581e-02 -4.84268213e-03 1.42952306e+02] [-2.87194070e-02 9.99587472e-01 2.86463011e-04 -1.09591857e+01] [ 4.84891173e-03 -1.47262520e-04 9.99988233e-01 -2.79087870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462414037 meters 0.06983876705915232 Centerline is valid? [True, True] Translation: X:143.01, Y:-10.95, Z:-2.80 [[ 9.99227172e-01 3.89715560e-02 -5.12608859e-03 1.43011938e+02] [-3.89705182e-02 9.99240315e-01 3.02219497e-04 -1.09474377e+01] [ 5.13397235e-03 -1.02219605e-04 9.99986816e-01 -2.79581869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52241403699998 meters 0.06891909816376333 Centerline is valid? [True, True] Translation: X:143.07, Y:-10.95, Z:-2.80 [[ 9.98905650e-01 4.62457352e-02 -6.98814785e-03 1.43072062e+02] [-4.62439844e-02 9.98930090e-01 4.11993653e-04 -1.09460429e+01] [ 6.99972410e-03 -8.83829874e-05 9.99975498e-01 -2.79994153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58241403699998 meters 0.06852731837325322 Centerline is valid? [True, True] Translation: X:143.13, Y:-10.95, Z:-2.81 [[ 9.98400917e-01 5.56263777e-02 -1.00655601e-02 1.43130200e+02] [-5.56232406e-02 9.98451654e-01 5.91563409e-04 -1.09451837e+01] [ 1.00828817e-02 -3.07383768e-05 9.99949166e-01 -2.80743491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64241403699998 meters 0.06785609116024706 Centerline is valid? [True, True] Translation: X:143.19, Y:-10.95, Z:-2.80 [[ 9.98070107e-01 6.18309726e-02 -5.74398148e-03 1.43188980e+02] [-6.18300591e-02 9.98086635e-01 3.36646848e-04 -1.09453591e+01] [ 5.75380634e-03 1.91535586e-05 9.99983447e-01 -2.80412164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70241403699998 meters 0.06763504194632526 Centerline is valid? [True, True] Translation: X:143.25, Y:-10.95, Z:-2.80 [[ 9.97790758e-01 6.64094126e-02 -1.84197858e-03 1.43247452e+02] [-6.64093288e-02 9.97792458e-01 1.06718691e-04 -1.09489817e+01] [ 1.84499946e-03 1.58416375e-05 9.99998298e-01 -2.80004519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76241403699999 meters 0.06733804608425974 Centerline is valid? [True, True] Translation: X:143.31, Y:-10.96, Z:-2.79 [[ 9.97770613e-01 6.66687560e-02 -3.01360263e-03 1.43306730e+02] [-6.66685278e-02 9.97775163e-01 1.76214215e-04 -1.09633841e+01] [ 3.01864584e-03 2.50910851e-05 9.99995444e-01 -2.79242828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822414037 meters 0.06750759515792552 Centerline is valid? [True, True] Translation: X:143.37, Y:-10.98, Z:-2.80 [[ 9.97945169e-01 6.38876776e-02 -4.87901699e-03 1.43365456e+02] [-6.38870418e-02 9.97957095e-01 2.86228810e-04 -1.09763445e+01] [ 4.88733611e-03 2.60653037e-05 9.99988057e-01 -2.79599876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882414037 meters 0.0680207812436777 Centerline is valid? [True, True] Translation: X:143.42, Y:-11.00, Z:-2.80 [[ 9.98595190e-01 5.29504137e-02 -1.97474912e-03 1.43424855e+02] [-5.29502871e-02 9.98597143e-01 1.16410562e-04 -1.10001656e+01] [ 1.97814282e-03 -1.16834948e-05 9.99998043e-01 -2.80184943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942414037 meters 0.07075594054398202 Centerline is valid? [True, True] Translation: X:143.48, Y:-11.03, Z:-2.81 [[ 9.99249605e-01 3.82749025e-02 -5.93792499e-03 1.43484115e+02] [-3.82735026e-02 9.99267240e-01 3.49257386e-04 -1.10312545e+01] [ 5.94694170e-03 -1.21730118e-04 9.99982309e-01 -2.80609797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002414037 meters 0.07412062593985806 Centerline is valid? [True, True] Translation: X:143.54, Y:-11.05, Z:-2.82 [[ 9.99484143e-01 2.93612428e-02 -1.30140395e-02 1.43544368e+02] [-2.93537583e-02 9.99568792e-01 7.65789870e-04 -1.10491953e+01] [ 1.30309123e-02 -3.83383862e-04 9.99915021e-01 -2.81536955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062414037 meters 0.07764434466383097 Centerline is valid? [True, True] Translation: X:143.60, Y:-11.07, Z:-2.82 [[ 9.99707840e-01 2.07855367e-02 -1.23368028e-02 1.43603232e+02] [-2.07781734e-02 9.99783848e-01 7.24744566e-04 -1.10715779e+01] [ 1.23492004e-02 -4.68196597e-04 9.99923636e-01 -2.81696332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122414037 meters 0.0791169557466635 Centerline is valid? [True, True] Translation: X:143.66, Y:-11.09, Z:-2.81 [[ 9.99849299e-01 1.60934358e-02 -6.51007117e-03 1.43662747e+02] [-1.60912917e-02 9.99870454e-01 3.81601803e-04 -1.10852581e+01] [ 6.51536910e-03 -2.76788841e-04 9.99978736e-01 -2.81132790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182414037 meters 0.0842557899154104 Centerline is valid? [True, True] Translation: X:143.72, Y:-11.10, Z:-2.81 [[ 9.99964558e-01 6.65684366e-03 -5.15452477e-03 1.43721254e+02] [-6.65537329e-03 9.99977807e-01 3.02357421e-04 -1.11015852e+01] [ 5.15642312e-03 -2.68041418e-04 9.99986670e-01 -2.81158890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24241403699997 meters 0.08575486368845021 Centerline is valid? [True, True] Translation: X:143.78, Y:-11.11, Z:-2.81 [[ 9.99973696e-01 -5.42349708e-03 -4.81600770e-03 1.43781070e+02] [ 5.42492108e-03 9.99985245e-01 2.82665338e-04 -1.11101057e+01] [ 4.81440360e-03 -3.08784364e-04 9.99988363e-01 -2.80718270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30241403699998 meters 0.08964489694595067 Centerline is valid? [True, True] Translation: X:143.84, Y:-11.12, Z:-2.81 [[ 9.99891650e-01 -1.13836691e-02 -9.33272062e-03 1.43840952e+02] [ 1.13892719e-02 9.99934990e-01 5.47405250e-04 -1.11160614e+01] [ 9.32588242e-03 -6.53638831e-04 9.99956299e-01 -2.81360719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36241403699998 meters 0.08986934888035535 Centerline is valid? [True, True] Translation: X:143.90, Y:-11.11, Z:-2.82 [[ 9.99866189e-01 -1.04132714e-02 -1.26161715e-02 1.43899418e+02] [ 1.04233041e-02 9.99945410e-01 7.29732551e-04 -1.11141191e+01] [ 1.26078839e-02 -8.61137097e-04 9.99920147e-01 -2.81924689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42241403699998 meters 0.08575227340172505 Centerline is valid? [True, True] Translation: X:143.96, Y:-11.10, Z:-2.82 [[ 9.99966266e-01 -1.78664277e-03 -8.01717065e-03 1.43960961e+02] [ 1.79044940e-03 9.99998288e-01 4.67658228e-04 -1.11013372e+01] [ 8.01632138e-03 -4.81996791e-04 9.99967753e-01 -2.81640204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48241403699998 meters 0.08301904969385814 Centerline is valid? [True, True] Translation: X:144.02, Y:-11.09, Z:-2.82 [[ 9.99967990e-01 4.76310287e-03 -6.42893921e-03 1.44021881e+02] [-4.76079453e-03 9.99988597e-01 3.74310774e-04 -1.10902946e+01] [ 6.43064878e-03 -3.43691934e-04 9.99979264e-01 -2.81560084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542414037 meters 0.07967757164061105 Centerline is valid? [True, True] Translation: X:144.08, Y:-11.07, Z:-2.82 [[ 9.99802769e-01 1.47769467e-02 -1.32689313e-02 1.44083051e+02] [-1.47679788e-02 9.99890648e-01 7.73583599e-04 -1.10729101e+01] [ 1.32789116e-02 -5.77475727e-04 9.99911665e-01 -2.82247018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602414037 meters 0.0785621975374825 Centerline is valid? [True, True] Translation: X:144.14, Y:-11.07, Z:-2.82 [[ 9.99738559e-01 1.87634308e-02 -1.30670337e-02 1.44143119e+02] [-1.87550895e-02 9.99823819e-01 7.60604267e-04 -1.10695647e+01] [ 1.30790031e-02 -5.15332027e-04 9.99914333e-01 -2.82451184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662414037 meters 0.07796393944398061 Centerline is valid? [True, True] Translation: X:144.20, Y:-11.07, Z:-2.83 [[ 9.99714498e-01 2.12701044e-02 -1.08859964e-02 1.44202828e+02] [-2.12644699e-02 9.99773685e-01 6.33095743e-04 -1.10653173e+01] [ 1.08969988e-02 -4.01430050e-04 9.99940545e-01 -2.82585178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722414037 meters 0.07761587392530686 Centerline is valid? [True, True] Translation: X:144.26, Y:-11.07, Z:-2.82 [[ 9.99738418e-01 2.19283401e-02 -6.49943245e-03 1.44261605e+02] [-2.19263522e-02 9.99759518e-01 3.76965605e-04 -1.10663749e+01] [ 6.50613568e-03 -2.34358153e-04 9.99978807e-01 -2.82413989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782414037 meters 0.07476577222362836 Centerline is valid? [True, True] Translation: X:144.32, Y:-11.06, Z:-2.82 [[ 9.99731890e-01 2.25529042e-02 -5.24550127e-03 1.44321460e+02] [-2.25516214e-02 9.99745634e-01 3.03562217e-04 -1.10618139e+01] [ 5.25101320e-03 -1.85186270e-04 9.99986196e-01 -2.81925169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842414037 meters 0.07493207602025322 Centerline is valid? [True, True] Translation: X:144.38, Y:-11.06, Z:-2.82 [[ 9.99659111e-01 2.47698214e-02 -8.25338387e-03 1.44380139e+02] [-2.47667198e-02 9.99693144e-01 4.77807114e-04 -1.10640205e+01] [ 8.26268646e-03 -2.73234990e-04 9.99965826e-01 -2.82415412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902414037 meters 0.0752326779945686 Centerline is valid? [True, True] Translation: X:144.44, Y:-11.07, Z:-2.82 [[ 9.99702634e-01 2.38588383e-02 -5.03984593e-03 1.44439492e+02] [-2.38576716e-02 9.99715323e-01 2.91501785e-04 -1.10694922e+01] [ 5.04536610e-03 -1.71176113e-04 9.99987257e-01 -2.82213851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962414037 meters 0.07564879251079935 Centerline is valid? [True, True] Translation: X:144.50, Y:-11.07, Z:-2.82 [[ 9.99702327e-01 2.31903032e-02 -7.58067258e-03 1.44500076e+02] [-2.31876354e-02 9.99731034e-01 4.39633772e-04 -1.10745903e+01] [ 7.58882888e-03 -2.63725033e-04 9.99971170e-01 -2.82481977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02241403699998 meters 0.0759397276999975 Centerline is valid? [True, True] Translation: X:144.56, Y:-11.08, Z:-2.83 [[ 9.99686756e-01 2.33946363e-02 -8.89277613e-03 1.44559095e+02] [-2.33909883e-02 9.99726261e-01 5.14023107e-04 -1.10777898e+01] [ 8.90236722e-03 -3.05851270e-04 9.99960326e-01 -2.82884022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08241403699998 meters 0.07570866574214692 Centerline is valid? [True, True] Translation: X:144.62, Y:-11.08, Z:-2.83 [[ 9.99690102e-01 2.30741276e-02 -9.34264544e-03 1.44617990e+02] [-2.30700979e-02 9.99733705e-01 5.38882919e-04 -1.10803623e+01] [ 9.35259179e-03 -3.23180175e-04 9.99956211e-01 -2.82989579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14241403699998 meters 0.07817179529861976 Centerline is valid? [True, True] Translation: X:144.68, Y:-11.09, Z:-2.84 [[ 9.99709457e-01 2.01980455e-02 -1.31545036e-02 1.44675978e+02] [-2.01897960e-02 9.99795877e-01 7.59631533e-04 -1.10933764e+01] [ 1.31671615e-02 -4.93824082e-04 9.99913187e-01 -2.83718172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20241403699998 meters 0.07971466334818855 Centerline is valid? [True, True] Translation: X:144.73, Y:-11.10, Z:-2.84 [[ 9.99716893e-01 1.78201068e-02 -1.57663682e-02 1.44734627e+02] [-1.78079788e-02 9.99841012e-01 9.09303178e-04 -1.11020962e+01] [ 1.57800654e-02 -6.28278598e-04 9.99875290e-01 -2.84073065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26241403699999 meters 0.07778044870761898 Centerline is valid? [True, True] Translation: X:144.79, Y:-11.10, Z:-2.83 [[ 9.99773224e-01 1.70195563e-02 -1.27998151e-02 1.44793335e+02] [-1.70115205e-02 9.99855022e-01 7.36426815e-04 -1.11026836e+01] [ 1.28104930e-02 -5.18515495e-04 9.99917808e-01 -2.83464609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322414037 meters 0.0766235416230073 Centerline is valid? [True, True] Translation: X:144.85, Y:-11.11, Z:-2.83 [[ 9.99724329e-01 2.03548400e-02 -1.17024462e-02 1.44853128e+02] [-2.03483418e-02 9.99792724e-01 6.74100210e-04 -1.11074201e+01] [ 1.17137418e-02 -4.35789005e-04 9.99931297e-01 -2.83226205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382414037 meters 0.07322432072918923 Centerline is valid? [True, True] Translation: X:144.91, Y:-11.10, Z:-2.84 [[ 9.99410829e-01 3.16592356e-02 -1.32547448e-02 1.44914039e+02] [-3.16518903e-02 9.99498662e-01 7.63628423e-04 -1.10998701e+01] [ 1.32722755e-02 -3.43640788e-04 9.99911860e-01 -2.83553763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442414037 meters 0.07027160687178233 Centerline is valid? [True, True] Translation: X:144.97, Y:-11.09, Z:-2.84 [[ 9.98947939e-01 4.51411993e-02 -8.08002045e-03 1.44973300e+02] [-4.51389206e-02 9.98980612e-01 4.64252812e-04 -1.10903445e+01] [ 8.09274070e-03 -9.90409885e-05 9.99967248e-01 -2.83570495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502414037 meters 0.06929856101890348 Centerline is valid? [True, True] Translation: X:145.03, Y:-11.09, Z:-2.84 [[ 9.98647513e-01 5.12534476e-02 -8.73094852e-03 1.45032701e+02] [-5.12510268e-02 9.98685677e-01 5.00931451e-04 -1.10919647e+01] [ 8.74514769e-03 -5.27838716e-05 9.99961759e-01 -2.83504549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562414037 meters 0.06802921973513487 Centerline is valid? [True, True] Translation: X:145.09, Y:-11.09, Z:-2.82 [[ 9.98448982e-01 5.50068876e-02 -8.59494666e-03 1.45092668e+02] [-5.50046808e-02 9.98485975e-01 4.93113443e-04 -1.10949410e+01] [ 8.60905833e-03 -1.95863181e-05 9.99962941e-01 -2.82251331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622414037 meters 0.06798028324307881 Centerline is valid? [True, True] Translation: X:145.15, Y:-11.10, Z:-2.82 [[ 9.98441362e-01 5.48331624e-02 -1.04005481e-02 1.45152436e+02] [-5.48299219e-02 9.98495530e-01 5.96667384e-04 -1.10991237e+01] [ 1.04176179e-02 -2.54761582e-05 9.99945735e-01 -2.82263055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682414037 meters 0.06835764235782744 Centerline is valid? [True, True] Translation: X:145.21, Y:-11.11, Z:-2.82 [[ 9.98462138e-01 5.28480812e-02 -1.67463350e-02 1.45211473e+02] [-5.28393934e-02 9.98602561e-01 9.61136999e-04 -1.11142147e+01] [ 1.67737273e-02 -7.47927185e-05 9.99859308e-01 -2.82438156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74241403699997 meters 0.06872271185059882 Centerline is valid? [True, True] Translation: X:145.27, Y:-11.13, Z:-2.83 [[ 9.98656377e-01 4.83381630e-02 -1.86778539e-02 1.45269923e+02] [-4.83265961e-02 9.98831014e-01 1.07041101e-03 -1.11282162e+01] [ 1.87077614e-02 -1.66335678e-04 9.99824981e-01 -2.82784781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80241403699998 meters 0.06849712364687077 Centerline is valid? [True, True] Translation: X:145.33, Y:-11.14, Z:-2.83 [[ 9.98983381e-01 4.28162272e-02 -1.41058814e-02 1.45328076e+02] [-4.28091011e-02 9.99082944e-01 8.06884186e-04 -1.11406861e+01] [ 1.41274932e-02 -2.02203792e-04 9.99900182e-01 -2.82745071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86241403699998 meters 0.06887473045522052 Centerline is valid? [True, True] Translation: X:145.39, Y:-11.16, Z:-2.83 [[ 9.99220705e-01 3.72166108e-02 -1.31493925e-02 1.45387244e+02] [-3.72099321e-02 9.99307188e-01 7.52278985e-04 -1.11581523e+01] [ 1.31682797e-02 -2.62404736e-04 9.99913260e-01 -2.82704348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92241403699998 meters 0.06901845275249856 Centerline is valid? [True, True] Translation: X:145.45, Y:-11.17, Z:-2.83 [[ 9.99384387e-01 3.15759309e-02 -1.52907709e-02 1.45446691e+02] [-3.15662375e-02 9.99501279e-01 8.74930666e-04 -1.11677508e+01] [ 1.53107718e-02 -3.91719942e-04 9.99882707e-01 -2.82704380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98241403699998 meters 0.07524509794726061 Centerline is valid? [True, True] Translation: X:145.50, Y:-11.19, Z:-2.85 [[ 9.99557305e-01 2.36689509e-02 -1.80270329e-02 1.45504436e+02] [-2.36542020e-02 9.99719669e-01 1.03096803e-03 -1.11917874e+01] [ 1.80463812e-02 -6.04096549e-04 9.99836968e-01 -2.84504936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042414037 meters 0.07064236991819377 Centerline is valid? [True, True] Translation: X:145.56, Y:-11.19, Z:-2.83 [[ 9.99615145e-01 2.04502573e-02 -1.87442826e-02 1.45564788e+02] [-2.04337672e-02 9.99790635e-01 1.07086593e-03 -1.11868430e+01] [ 1.87622577e-02 -6.87437498e-04 9.99823737e-01 -2.83002729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102414037 meters 0.07881074701585264 Centerline is valid? [True, True] Translation: X:145.62, Y:-11.21, Z:-2.85 [[ 9.99634957e-01 1.58204798e-02 -2.19012492e-02 1.45623197e+02] [-1.57968431e-02 9.99874438e-01 1.25183353e-03 -1.12149126e+01] [ 2.19183039e-02 -9.05405964e-04 9.99759355e-01 -2.84927581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162414037 meters 0.07891899115647555 Centerline is valid? [True, True] Translation: X:145.68, Y:-11.22, Z:-2.85 [[ 9.99657774e-01 1.50697158e-02 -2.13831540e-02 1.45681848e+02] [-1.50470828e-02 9.99886043e-01 1.21895923e-03 -1.12163196e+01] [ 2.13990866e-02 -8.96787987e-04 9.99770611e-01 -2.85034816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222414037 meters 0.07954601914385158 Centerline is valid? [True, True] Translation: X:145.74, Y:-11.22, Z:-2.85 [[ 9.99673598e-01 1.48559631e-02 -2.07845395e-02 1.45740082e+02] [-1.48345704e-02 9.99889262e-01 1.18307585e-03 -1.12219762e+01] [ 2.07998136e-02 -8.74359976e-04 9.99783278e-01 -2.84941455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282414037 meters 0.07841593245251154 Centerline is valid? [True, True] Translation: X:145.80, Y:-11.22, Z:-2.85 [[ 9.99582143e-01 1.30648688e-02 -2.57846733e-02 1.45799978e+02] [-1.30313233e-02 9.99914010e-01 1.46859673e-03 -1.12246797e+01] [ 2.58016431e-02 -1.13197465e-03 9.99666441e-01 -2.84679222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342414037 meters 0.07868570928454012 Centerline is valid? [True, True] Translation: X:145.86, Y:-11.23, Z:-2.85 [[ 9.99642879e-01 1.32934735e-02 -2.31818587e-02 1.45858450e+02] [-1.32664994e-02 9.99911129e-01 1.31699589e-03 -1.12263178e+01] [ 2.31973059e-02 -1.00898345e-03 9.99730397e-01 -2.84706320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402414037 meters 0.07551953927238181 Centerline is valid? [True, True] Translation: X:145.92, Y:-11.21, Z:-2.84 [[ 9.99599207e-01 2.01908459e-02 -1.98432694e-02 1.45919956e+02] [-2.01724116e-02 9.99795879e-01 1.12874173e-03 -1.12149439e+01] [ 1.98620093e-02 -7.28002741e-04 9.99802466e-01 -2.84422519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462414037 meters 0.07387637721582706 Centerline is valid? [True, True] Translation: X:145.98, Y:-11.21, Z:-2.84 [[ 9.99479762e-01 2.61500915e-02 -1.88779831e-02 1.45980394e+02] [-2.61344844e-02 9.99657860e-01 1.07300976e-03 -1.12089060e+01] [ 1.88995835e-02 -5.79085182e-04 9.99821219e-01 -2.84487116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52241403699998 meters 0.0758451577461224 Centerline is valid? [True, True] Translation: X:146.04, Y:-11.21, Z:-2.86 [[ 9.99244755e-01 3.20312316e-02 -2.19981596e-02 1.46038611e+02] [-3.20115475e-02 9.99486722e-01 1.24645328e-03 -1.12055959e+01] [ 2.20267939e-02 -5.41316775e-04 9.99757234e-01 -2.85755487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58241403699998 meters 0.07369428177272445 Centerline is valid? [True, True] Translation: X:146.10, Y:-11.20, Z:-2.85 [[ 9.99216089e-01 3.19850996e-02 -2.33272705e-02 1.46098237e+02] [-3.19629888e-02 9.99488181e-01 1.32018555e-03 -1.11992293e+01] [ 2.33575574e-02 -5.73541354e-04 9.99727011e-01 -2.85172116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64241403699998 meters 0.0743167208854017 Centerline is valid? [True, True] Translation: X:146.16, Y:-11.20, Z:-2.85 [[ 9.99279285e-01 2.97986652e-02 -2.35149029e-02 1.46157227e+02] [-2.97756418e-02 9.99555724e-01 1.32870112e-03 -1.12025158e+01] [ 2.35440493e-02 -6.27572184e-04 9.99722603e-01 -2.84921229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70241403699998 meters 0.07530609520180341 Centerline is valid? [True, True] Translation: X:146.22, Y:-11.21, Z:-2.85 [[ 9.99366034e-01 2.63753945e-02 -2.39137785e-02 1.46215678e+02] [-2.63506308e-02 9.99651850e-01 1.35012196e-03 -1.12065108e+01] [ 2.39410629e-02 -7.19122886e-04 9.99713113e-01 -2.85074075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76241403699999 meters 0.07878146668487275 Centerline is valid? [True, True] Translation: X:146.28, Y:-11.21, Z:-2.86 [[ 9.99429919e-01 2.04333770e-02 -2.68758845e-02 1.46275116e+02] [-2.03999446e-02 9.99790748e-01 1.51757747e-03 -1.12123698e+01] [ 2.69012699e-02 -9.68445773e-04 9.99637626e-01 -2.85749174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822414037 meters 0.08064485070978557 Centerline is valid? [True, True] Translation: X:146.33, Y:-11.22, Z:-2.86 [[ 9.99504254e-01 1.69047588e-02 -2.65607757e-02 1.46334317e+02] [-1.68708990e-02 9.99856553e-01 1.49839621e-03 -1.12188955e+01] [ 2.65822956e-02 -1.04954923e-03 9.99646077e-01 -2.85889992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882414037 meters 0.07794595850547266 Centerline is valid? [True, True] Translation: X:146.39, Y:-11.21, Z:-2.85 [[ 9.99613639e-01 1.54462394e-02 -2.31081432e-02 1.46393912e+02] [-1.54202942e-02 9.99880254e-01 1.30055701e-03 -1.12143701e+01] [ 2.31254648e-02 -9.43720160e-04 9.99732125e-01 -2.85113544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942414037 meters 0.07844740029494054 Centerline is valid? [True, True] Translation: X:146.45, Y:-11.21, Z:-2.86 [[ 9.99560914e-01 1.92371808e-02 -2.25368615e-02 1.46452865e+02] [-1.92134689e-02 9.99814600e-01 1.26821840e-03 -1.12139032e+01] [ 2.25570801e-02 -8.34650260e-04 9.99745208e-01 -2.85783893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002414037 meters 0.07339385925119087 Centerline is valid? [True, True] Translation: X:146.51, Y:-11.20, Z:-2.86 [[ 9.99257064e-01 3.34308384e-02 -1.91754815e-02 1.46514548e+02] [-3.34162699e-02 9.99440937e-01 1.07974709e-03 -1.11977519e+01] [ 1.92008580e-02 -4.38171847e-04 9.99815551e-01 -2.85583813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062414037 meters 0.07010989018684236 Centerline is valid? [True, True] Translation: X:146.58, Y:-11.18, Z:-2.85 [[ 9.98608852e-01 4.98942960e-02 -1.70564027e-02 1.46575886e+02] [-4.98851714e-02 9.98754498e-01 9.60274590e-04 -1.11779548e+01] [ 1.70830711e-02 -1.08077135e-04 9.99854068e-01 -2.85364604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122414037 meters 0.06857765685430657 Centerline is valid? [True, True] Translation: X:146.64, Y:-11.17, Z:-2.84 [[ 9.98208936e-01 5.74609066e-02 -1.66482365e-02 1.46635646e+02] [-5.74533155e-02 9.98347757e-01 9.34290541e-04 -1.11718737e+01] [ 1.66744148e-02 2.38792180e-05 9.99860972e-01 -2.83871831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182414037 meters 0.06998776628776285 Centerline is valid? [True, True] Translation: X:146.69, Y:-11.17, Z:-2.86 [[ 9.98065367e-01 5.94272862e-02 -1.82735284e-02 1.46694000e+02] [-5.94184808e-02 9.98232635e-01 1.02490707e-03 -1.11749257e+01] [ 1.83021398e-02 6.28610458e-05 9.99832500e-01 -2.85500515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24241403699997 meters 0.06911418900821588 Centerline is valid? [True, True] Translation: X:146.75, Y:-11.19, Z:-2.84 [[ 9.98205366e-01 5.67562555e-02 -1.90990968e-02 1.46752599e+02] [-5.67461861e-02 9.98388064e-01 1.06919408e-03 -1.11885556e+01] [ 1.91289937e-02 1.65256362e-05 9.99817024e-01 -2.84351985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30241403699998 meters 0.06890133597152542 Centerline is valid? [True, True] Translation: X:146.81, Y:-11.20, Z:-2.84 [[ 9.98250137e-01 5.58652812e-02 -1.93838546e-02 1.46811171e+02] [-5.58547624e-02 9.98438316e-01 1.08404846e-03 -1.11983751e+01] [ 1.94141438e-02 5.29070922e-07 9.99811528e-01 -2.84277996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36241403699998 meters 0.06906915824585064 Centerline is valid? [True, True] Translation: X:146.87, Y:-11.21, Z:-2.85 [[ 9.98214595e-01 5.64361652e-02 -1.95596897e-02 1.46869175e+02] [-5.64255910e-02 9.98406209e-01 1.09252072e-03 -1.12106707e+01] [ 1.95901734e-02 1.30969246e-05 9.99808094e-01 -2.84646086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42241403699998 meters 0.06926475922832355 Centerline is valid? [True, True] Translation: X:146.93, Y:-11.22, Z:-2.85 [[ 9.98293206e-01 5.53544339e-02 -1.86161400e-02 1.46927871e+02] [-5.53446806e-02 9.98466768e-01 1.03909899e-03 -1.12231322e+01] [ 1.86451158e-02 -7.02114074e-06 9.99826165e-01 -2.84798696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48241403699998 meters 0.0691416168720623 Centerline is valid? [True, True] Translation: X:146.99, Y:-11.24, Z:-2.85 [[ 9.98685933e-01 4.95913104e-02 -1.29270652e-02 1.46986613e+02] [-4.95861276e-02 9.98769591e-01 7.21324961e-04 -1.12447804e+01] [ 1.29469311e-02 -7.93739861e-05 9.99916182e-01 -2.84671938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542414037 meters 0.06910049746820694 Centerline is valid? [True, True] Translation: X:147.05, Y:-11.25, Z:-2.85 [[ 9.98852401e-01 4.66516231e-02 -1.08401075e-02 1.47046247e+02] [-4.66478119e-02 9.98911216e-01 6.04297236e-04 -1.12542614e+01] [ 1.08564964e-02 -9.79364508e-05 9.99941062e-01 -2.84698639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602414037 meters 0.0688722258906025 Centerline is valid? [True, True] Translation: X:147.11, Y:-11.27, Z:-2.84 [[ 9.99274426e-01 3.74381824e-02 -7.00030220e-03 1.47105933e+02] [-3.74363640e-02 9.99298937e-01 3.90657044e-04 -1.12728234e+01] [ 7.01002004e-03 -1.28307731e-04 9.99975421e-01 -2.84400001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662414037 meters 0.06934969234295922 Centerline is valid? [True, True] Translation: X:147.17, Y:-11.28, Z:-2.85 [[ 9.99449180e-01 3.18620756e-02 -9.28139165e-03 1.47166195e+02] [-3.18586342e-02 9.99492250e-01 5.18439295e-04 -1.12848253e+01] [ 9.29319758e-03 -2.22461267e-04 9.99956793e-01 -2.84568850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722414037 meters 0.07013167826097713 Centerline is valid? [True, True] Translation: X:147.23, Y:-11.30, Z:-2.85 [[ 9.99489553e-01 2.94269794e-02 -1.24372950e-02 1.47225781e+02] [-2.94206099e-02 9.99566879e-01 6.94820803e-04 -1.13020539e+01] [ 1.24523546e-02 -3.28553331e-04 9.99922412e-01 -2.84931865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782414037 meters 0.07100190824745496 Centerline is valid? [True, True] Translation: X:147.28, Y:-11.31, Z:-2.85 [[ 9.99557418e-01 2.80968194e-02 -9.77432304e-03 1.47283938e+02] [-2.80928386e-02 9.99605170e-01 5.44364811e-04 -1.13134901e+01] [ 9.78575876e-03 -2.69535405e-04 9.99952082e-01 -2.85479754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842414037 meters 0.06985670858508138 Centerline is valid? [True, True] Translation: X:147.34, Y:-11.32, Z:-2.85 [[ 9.99651220e-01 2.49367110e-02 -8.69475751e-03 1.47344492e+02] [-2.49334343e-02 9.99688996e-01 4.85075590e-04 -1.13169526e+01] [ 8.70414960e-03 -2.68116240e-04 9.99962082e-01 -2.85155743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902414037 meters 0.07027375927261242 Centerline is valid? [True, True] Translation: X:147.40, Y:-11.33, Z:-2.85 [[ 9.99643793e-01 2.53646938e-02 -8.30181816e-03 1.47402977e+02] [-2.53617251e-02 9.99678233e-01 4.62693756e-04 -1.13292386e+01] [ 8.31088299e-03 -2.51980511e-04 9.99965432e-01 -2.85246034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962414037 meters 0.06885239153275306 Centerline is valid? [True, True] Translation: X:147.46, Y:-11.33, Z:-2.85 [[ 9.99508525e-01 3.04043336e-02 -7.63451300e-03 1.47463396e+02] [-3.04019676e-02 9.99537663e-01 4.25793703e-04 -1.13297916e+01] [ 7.64392925e-03 -1.93480219e-04 9.99970766e-01 -2.85020259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02241403699998 meters 0.0676282053509728 Centerline is valid? [True, True] Translation: X:147.52, Y:-11.32, Z:-2.85 [[ 9.98898244e-01 4.64672346e-02 -6.56467069e-03 1.47524222e+02] [-4.64658327e-02 9.98919813e-01 3.65989460e-04 -1.13238288e+01] [ 6.57458614e-03 -6.05533386e-05 9.99978385e-01 -2.85353181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08241403699998 meters 0.06765576675814886 Centerline is valid? [True, True] Translation: X:147.59, Y:-11.32, Z:-2.86 [[ 9.98198841e-01 5.94527414e-02 -8.02776603e-03 1.47586307e+02] [-5.94510073e-02 9.98231121e-01 4.54683201e-04 -1.13214543e+01] [ 8.04059805e-03 2.33945326e-05 9.99967674e-01 -2.85933740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14241403699998 meters 0.06736826284059157 Centerline is valid? [True, True] Translation: X:147.65, Y:-11.32, Z:-2.86 [[ 9.97468689e-01 7.09095573e-02 -5.29612227e-03 1.47648122e+02] [-7.09089499e-02 9.97482746e-01 3.02620052e-04 -1.13242615e+01] [ 5.30424924e-03 7.36884421e-05 9.99985930e-01 -2.85856732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20241403699998 meters 0.06750907137490722 Centerline is valid? [True, True] Translation: X:147.71, Y:-11.34, Z:-2.86 [[ 9.97401421e-01 7.17707710e-02 -6.27384653e-03 1.47708665e+02] [-7.17699343e-02 9.97421149e-01 3.58689486e-04 -1.13351434e+01] [ 6.28341063e-03 9.25161500e-05 9.99980255e-01 -2.85954750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26241403699999 meters 0.067507061756769 Centerline is valid? [True, True] Translation: X:147.77, Y:-11.35, Z:-2.86 [[ 9.97413685e-01 7.12182869e-02 -9.68997773e-03 1.47769927e+02] [-7.12163085e-02 9.97460744e-01 5.49499560e-04 -1.13486772e+01] [ 9.70450681e-03 1.42006062e-04 9.99952900e-01 -2.86035336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322414037 meters 0.0670506933832472 Centerline is valid? [True, True] Translation: X:147.83, Y:-11.37, Z:-2.86 [[ 9.97460385e-01 7.08216877e-02 -7.55442822e-03 1.47830187e+02] [-7.08204378e-02 9.97488986e-01 4.33166861e-04 -1.13664599e+01] [ 7.56613655e-03 1.02941129e-04 9.99971371e-01 -2.85898993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382414037 meters 0.06695654073587891 Centerline is valid? [True, True] Translation: X:147.89, Y:-11.38, Z:-2.86 [[ 9.97440997e-01 7.09719833e-02 -8.62760632e-03 1.47891619e+02] [-7.09703420e-02 9.97478302e-01 4.96634560e-04 -1.13816734e+01] [ 8.64109724e-03 1.16940500e-04 9.99962658e-01 -2.85779019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442414037 meters 0.06711280488238938 Centerline is valid? [True, True] Translation: X:147.95, Y:-11.40, Z:-2.86 [[ 9.97318923e-01 7.24631381e-02 -1.02009506e-02 1.47952514e+02] [-7.24609042e-02 9.97371080e-01 5.88897970e-04 -1.14046235e+01] [ 1.02168065e-02 1.51851017e-04 9.99947796e-01 -2.85765239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502414037 meters 0.06722949324099237 Centerline is valid? [True, True] Translation: X:148.01, Y:-11.42, Z:-2.86 [[ 9.97090745e-01 7.55752271e-02 -9.92129376e-03 1.48013782e+02] [-7.55732434e-02 9.97140087e-01 5.75231560e-04 -1.14227027e+01] [ 9.93639299e-03 1.76226284e-04 9.99950617e-01 -2.85954872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562414037 meters 0.06740340877341795 Centerline is valid? [True, True] Translation: X:148.08, Y:-11.44, Z:-2.86 [[ 9.97078751e-01 7.59154992e-02 -8.41433844e-03 1.48075344e+02] [-7.59140612e-02 9.97114244e-01 4.90611264e-04 -1.14380643e+01] [ 8.42730171e-03 1.49588538e-04 9.99964478e-01 -2.86121565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622414037 meters 0.06723566590460589 Centerline is valid? [True, True] Translation: X:148.14, Y:-11.47, Z:-2.86 [[ 9.97419919e-01 7.12460290e-02 -8.80383709e-03 1.48135853e+02] [-7.12442548e-02 9.97458766e-01 5.15384724e-04 -1.14651126e+01] [ 8.81818360e-03 1.13167823e-04 9.99961113e-01 -2.86068083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682414037 meters 0.06723151745474013 Centerline is valid? [True, True] Translation: X:148.20, Y:-11.50, Z:-2.86 [[ 9.98153313e-01 6.00832787e-02 -8.94219538e-03 1.48196277e+02] [-6.00809813e-02 9.98193368e-01 5.25573883e-04 -1.14957977e+01] [ 8.95761832e-03 1.26525608e-05 9.99959880e-01 -2.86112145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74241403699997 meters 0.06729452606833931 Centerline is valid? [True, True] Translation: X:148.26, Y:-11.51, Z:-2.86 [[ 9.98559613e-01 5.30373220e-02 -8.10817505e-03 1.48257798e+02] [-5.30351815e-02 9.98592530e-01 4.78929972e-04 -1.15148504e+01] [ 8.12216420e-03 -4.82215919e-05 9.99967014e-01 -2.86152995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80241403699998 meters 0.06817248355120126 Centerline is valid? [True, True] Translation: X:148.32, Y:-11.54, Z:-2.87 [[ 9.98925346e-01 4.46839976e-02 -1.23082383e-02 1.48316387e+02] [-4.46784913e-02 9.99001157e-01 7.22110796e-04 -1.15385344e+01] [ 1.23282111e-02 -1.71421260e-04 9.99923990e-01 -2.86813232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86241403699998 meters 0.06815854718764684 Centerline is valid? [True, True] Translation: X:148.38, Y:-11.55, Z:-2.86 [[ 9.99044038e-01 4.12237886e-02 -1.45468337e-02 1.48377000e+02] [-4.12157332e-02 9.99149906e-01 8.53244273e-04 -1.15506318e+01] [ 1.45696415e-02 -2.52870187e-04 9.99893825e-01 -2.86459771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92241403699998 meters 0.06835551854280274 Centerline is valid? [True, True] Translation: X:148.44, Y:-11.57, Z:-2.87 [[ 9.99071093e-01 4.05696408e-02 -1.45277296e-02 1.48438058e+02] [-4.05614300e-02 9.99176677e-01 8.59507297e-04 -1.15653186e+01] [ 1.45506385e-02 -2.69443407e-04 9.99894098e-01 -2.86509942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98241403699998 meters 0.06792878672457942 Centerline is valid? [True, True] Translation: X:148.50, Y:-11.57, Z:-2.87 [[ 9.98984645e-01 4.36380934e-02 -1.11980482e-02 1.48497978e+02] [-4.36334467e-02 9.99047390e-01 6.59052407e-04 -1.15679635e+01] [ 1.12161406e-02 -1.69773797e-04 9.99937083e-01 -2.86768146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042414037 meters 0.06722882912815362 Centerline is valid? [True, True] Translation: X:148.56, Y:-11.57, Z:-2.87 [[ 9.98455071e-01 5.50365414e-02 -7.64521913e-03 1.48558829e+02] [-5.50347095e-02 9.98484341e-01 4.49953420e-04 -1.15652817e+01] [ 7.65839546e-03 -2.85058600e-05 9.99970674e-01 -2.86505383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102414037 meters 0.06739329454325596 Centerline is valid? [True, True] Translation: X:148.62, Y:-11.57, Z:-2.87 [[ 9.97780416e-01 6.58476820e-02 -9.91589849e-03 1.48619292e+02] [-6.58450994e-02 9.97829684e-01 5.87047586e-04 -1.15673026e+01] [ 9.93303358e-03 6.71687369e-05 9.99950664e-01 -2.86806529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162414037 meters 0.06716503259802939 Centerline is valid? [True, True] Translation: X:148.68, Y:-11.57, Z:-2.87 [[ 9.97563244e-01 6.93344450e-02 -7.76587855e-03 1.48681133e+02] [-6.93329299e-02 9.97593469e-01 4.64480607e-04 -1.15701396e+01] [ 7.77939422e-03 7.50823320e-05 9.99969737e-01 -2.86878675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222414037 meters 0.06721919968342682 Centerline is valid? [True, True] Translation: X:148.74, Y:-11.58, Z:-2.87 [[ 9.97804933e-01 6.57136262e-02 -8.18747385e-03 1.48743035e+02] [-6.57118056e-02 9.97838523e-01 4.91478447e-04 -1.15825384e+01] [ 8.20207365e-03 4.76140708e-05 9.99966361e-01 -2.87109180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282414037 meters 0.06754463087911255 Centerline is valid? [True, True] Translation: X:148.80, Y:-11.60, Z:-2.87 [[ 9.98359455e-01 5.65247214e-02 -9.12988265e-03 1.48803990e+02] [-5.65220536e-02 9.98401199e-01 5.50170200e-04 -1.16031616e+01] [ 9.14638400e-03 -3.32279042e-05 9.99958170e-01 -2.87298225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342414037 meters 0.06785332613649527 Centerline is valid? [True, True] Translation: X:148.87, Y:-11.62, Z:-2.88 [[ 9.98656176e-01 5.07039162e-02 -1.07217247e-02 1.48865655e+02] [-5.06999408e-02 9.98713724e-01 6.42438592e-04 -1.16164471e+01] [ 1.07405077e-02 -9.79844611e-05 9.99942314e-01 -2.87507161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402414037 meters 0.06864868033929956 Centerline is valid? [True, True] Translation: X:148.92, Y:-11.63, Z:-2.88 [[ 9.98971964e-01 4.33039411e-02 -1.34083133e-02 1.48924926e+02] [-4.32970781e-02 9.99061920e-01 8.01837615e-04 -1.16305912e+01] [ 1.34304580e-02 -2.20472508e-04 9.99909783e-01 -2.88015028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462414037 meters 0.06895330242805243 Centerline is valid? [True, True] Translation: X:148.99, Y:-11.64, Z:-2.88 [[ 9.99055315e-01 4.15131571e-02 -1.28504973e-02 1.48986541e+02] [-4.15066117e-02 9.99137928e-01 7.75752923e-04 -1.16373237e+01] [ 1.28716232e-02 -2.41639479e-04 9.99917128e-01 -2.88140788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52241403699998 meters 0.07031837348457959 Centerline is valid? [True, True] Translation: X:149.05, Y:-11.65, Z:-2.88 [[ 9.99355732e-01 3.34865397e-02 -1.29140199e-02 1.49046075e+02] [-3.34793151e-02 9.99439110e-01 7.75283202e-04 -1.16517077e+01] [ 1.29327381e-02 -3.42431172e-04 9.99916310e-01 -2.88028264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58241403699998 meters 0.07119900272066532 Centerline is valid? [True, True] Translation: X:149.11, Y:-11.66, Z:-2.88 [[ 9.99544087e-01 2.77781825e-02 -1.18317727e-02 1.49107074e+02] [-2.77717069e-02 9.99614039e-01 7.11293466e-04 -1.16587163e+01] [ 1.18469646e-02 -3.82380654e-04 9.99929749e-01 -2.88153712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64241403699998 meters 0.07050883624373103 Centerline is valid? [True, True] Translation: X:149.17, Y:-11.66, Z:-2.88 [[ 9.99732864e-01 2.00221743e-02 -1.15460961e-02 1.49168022e+02] [-2.00154964e-02 9.99799429e-01 6.93640718e-04 -1.16582166e+01] [ 1.15576685e-02 -4.62354577e-04 9.99933101e-01 -2.87664253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70241403699998 meters 0.07148128802458598 Centerline is valid? [True, True] Translation: X:149.23, Y:-11.66, Z:-2.88 [[ 9.99816382e-01 1.40022123e-02 -1.30820910e-02 1.49228644e+02] [-1.39931248e-02 9.99901783e-01 7.85932341e-04 -1.16628605e+01] [ 1.30918109e-02 -6.02728698e-04 9.99914117e-01 -2.87742397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76241403699999 meters 0.07173640387870504 Centerline is valid? [True, True] Translation: X:149.29, Y:-11.66, Z:-2.88 [[ 9.99884812e-01 6.49218240e-03 -1.37190879e-02 1.49288764e+02] [-6.48148579e-03 9.99978655e-01 8.24007206e-04 -1.16629245e+01] [ 1.37241447e-02 -7.34992217e-04 9.99905549e-01 -2.87553774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822414037 meters 0.07326733518412948 Centerline is valid? [True, True] Translation: X:149.35, Y:-11.66, Z:-2.88 [[ 9.99897250e-01 1.22375312e-03 -1.42825772e-02 1.49348261e+02] [-1.21162337e-03 9.99998898e-01 8.57891234e-04 -1.16621699e+01] [ 1.42836113e-02 -8.40497981e-04 9.99897631e-01 -2.87895755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882414037 meters 0.07341793352004071 Centerline is valid? [True, True] Translation: X:149.41, Y:-11.66, Z:-2.88 [[ 9.99881047e-01 -9.98910952e-05 -1.54234018e-02 1.49407792e+02] [ 1.14166408e-04 9.99999566e-01 9.24684222e-04 -1.16582319e+01] [ 1.54233027e-02 -9.26335063e-04 9.99880625e-01 -2.88245426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942414037 meters 0.07381203010223183 Centerline is valid? [True, True] Translation: X:149.47, Y:-11.65, Z:-2.88 [[ 9.99876893e-01 -1.36954524e-03 -1.56308182e-02 1.49467062e+02] [ 1.38434044e-03 9.99998604e-01 9.35759517e-04 -1.16501385e+01] [ 1.56295148e-02 -9.57282693e-04 9.99877393e-01 -2.88416144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002414037 meters 0.07315245697497866 Centerline is valid? [True, True] Translation: X:149.53, Y:-11.64, Z:-2.88 [[ 9.99871499e-01 -2.74823780e-03 -1.57934333e-02 1.49526942e+02] [ 2.76350533e-03 9.99995735e-01 9.44958189e-04 -1.16433645e+01] [ 1.57907690e-02 -9.88481998e-04 9.99874829e-01 -2.88324655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062414037 meters 0.07443624894342835 Centerline is valid? [True, True] Translation: X:149.59, Y:-11.63, Z:-2.89 [[ 9.99823116e-01 -5.48670129e-03 -1.79898184e-02 1.49587067e+02] [ 5.50695755e-03 9.99984257e-01 1.07663946e-03 -1.16335713e+01] [ 1.79836280e-02 -1.17551819e-03 9.99837590e-01 -2.88720219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122414037 meters 0.0748685218118386 Centerline is valid? [True, True] Translation: X:149.65, Y:-11.63, Z:-2.89 [[ 9.99825106e-01 -6.69936842e-03 -1.74606796e-02 1.49645752e+02] [ 6.71856121e-03 9.99976889e-01 1.04077195e-03 -1.16291992e+01] [ 1.74533035e-02 -1.15790057e-03 9.99847009e-01 -2.88574872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182414037 meters 0.07389474089954441 Centerline is valid? [True, True] Translation: X:149.71, Y:-11.61, Z:-2.89 [[ 9.99811369e-01 -3.44990032e-03 -1.91134460e-02 1.49707253e+02] [ 3.47234516e-03 9.99993320e-01 1.14123276e-03 -1.16113996e+01] [ 1.91093812e-02 -1.20738597e-03 9.99816670e-01 -2.88572990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24241403699997 meters 0.07277020450304636 Centerline is valid? [True, True] Translation: X:149.77, Y:-11.59, Z:-2.89 [[ 9.99659708e-01 8.87612622e-03 -2.45292256e-02 1.49769519e+02] [-8.84284486e-03 9.99959828e-01 1.46494389e-03 -1.15865514e+01] [ 2.45412433e-02 -1.24753725e-03 9.99698040e-01 -2.89467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30241403699998 meters 0.07161503047374182 Centerline is valid? [True, True] Translation: X:149.83, Y:-11.57, Z:-2.90 [[ 9.99621173e-01 1.74776972e-02 -2.12612326e-02 1.49831250e+02] [-1.74546391e-02 9.99846850e-01 1.26961925e-03 -1.15723304e+01] [ 2.12801665e-02 -8.98031147e-04 9.99773148e-01 -2.89660316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36241403699998 meters 0.06901401066583382 Centerline is valid? [True, True] Translation: X:149.89, Y:-11.55, Z:-2.89 [[ 9.99451393e-01 2.99766443e-02 -1.40823842e-02 1.49892785e+02] [-2.99677729e-02 9.99550512e-01 8.40611808e-04 -1.15501735e+01] [ 1.41012531e-02 -4.18132950e-04 9.99900485e-01 -2.89194813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42241403699998 meters 0.06829484240084716 Centerline is valid? [True, True] Translation: X:149.95, Y:-11.54, Z:-2.89 [[ 9.99274559e-01 3.47072128e-02 -1.56768862e-02 1.49954434e+02] [-3.46967867e-02 9.99397446e-01 9.36639603e-04 -1.15406509e+01] [ 1.56999482e-02 -3.92022548e-04 9.99876671e-01 -2.89257162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48241403699998 meters 0.06866715647940644 Centerline is valid? [True, True] Translation: X:150.02, Y:-11.53, Z:-2.90 [[ 9.99337811e-01 3.38647610e-02 -1.33085516e-02 1.50015111e+02] [-3.38571689e-02 9.99426365e-01 7.95420810e-04 -1.15341504e+01] [ 1.33278541e-02 -3.44304211e-04 9.99911121e-01 -2.89853744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542414037 meters 0.06926669430433534 Centerline is valid? [True, True] Translation: X:150.08, Y:-11.53, Z:-2.90 [[ 9.99461887e-01 3.04722396e-02 -1.21399766e-02 1.50076444e+02] [-3.04656630e-02 9.99535550e-01 7.26334892e-04 -1.15314855e+01] [ 1.21564713e-02 -3.56091606e-04 9.99926044e-01 -2.90163792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602414037 meters 0.06973871844055221 Centerline is valid? [True, True] Translation: X:150.14, Y:-11.53, Z:-2.91 [[ 9.99399524e-01 3.13844096e-02 -1.46836872e-02 1.50136430e+02] [-3.13748647e-02 9.99507300e-01 8.80001653e-04 -1.15328585e+01] [ 1.47040709e-02 -4.18774533e-04 9.99891802e-01 -2.90500993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662414037 meters 0.06887245743227084 Centerline is valid? [True, True] Translation: X:150.20, Y:-11.53, Z:-2.90 [[ 9.99297873e-01 3.57376538e-02 -1.12508316e-02 1.50197280e+02] [-3.57323406e-02 9.99361169e-01 6.72975052e-04 -1.15266410e+01] [ 1.12676948e-02 -2.70483991e-04 9.99936481e-01 -2.90410673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722414037 meters 0.06781657443163142 Centerline is valid? [True, True] Translation: X:150.26, Y:-11.51, Z:-2.91 [[ 9.98669239e-01 5.02042085e-02 -1.18020607e-02 1.50258936e+02] [-5.01993655e-02 9.98738967e-01 7.06414125e-04 -1.15145624e+01] [ 1.18226428e-02 -1.13018099e-04 9.99930104e-01 -2.90697593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782414037 meters 0.06762801679229116 Centerline is valid? [True, True] Translation: X:150.32, Y:-11.51, Z:-2.91 [[ 9.98104117e-01 6.03783974e-02 -1.19424125e-02 1.50321559e+02] [-6.03740796e-02 9.98175560e-01 7.22069776e-04 -1.15093428e+01] [ 1.19642217e-02 3.11345766e-07 9.99928426e-01 -2.90962244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842414037 meters 0.06793962150883893 Centerline is valid? [True, True] Translation: X:150.38, Y:-11.51, Z:-2.91 [[ 9.97289842e-01 7.25379749e-02 -1.22968386e-02 1.50384160e+02] [-7.25343508e-02 9.97365639e-01 7.41041266e-04 -1.15076172e+01] [ 1.23181980e-02 1.52910280e-04 9.99924116e-01 -2.91139470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902414037 meters 0.06838477746023375 Centerline is valid? [True, True] Translation: X:150.44, Y:-11.51, Z:-2.92 [[ 9.96836950e-01 7.84948739e-02 -1.24358090e-02 1.50444877e+02] [-7.84916335e-02 9.96914491e-01 7.49180735e-04 -1.15099341e+01] [ 1.24562450e-02 2.29295922e-04 9.99922392e-01 -2.91590200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962414037 meters 0.06799120283089356 Centerline is valid? [True, True] Translation: X:150.51, Y:-11.52, Z:-2.91 [[ 9.96754789e-01 7.96653416e-02 -1.15465848e-02 1.50506500e+02] [-7.96625474e-02 9.96821642e-01 7.02453728e-04 -1.15247759e+01] [ 1.15658468e-02 2.19656241e-04 9.99933089e-01 -2.91296970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02241403699998 meters 0.06807986100902502 Centerline is valid? [True, True] Translation: X:150.57, Y:-11.55, Z:-2.92 [[ 9.97217003e-01 7.31158511e-02 -1.45712699e-02 1.50565882e+02] [-7.31107194e-02 9.97323438e-01 8.85269160e-04 -1.15488420e+01] [ 1.45969962e-02 1.82510569e-04 9.99893442e-01 -2.91525505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08241403699998 meters 0.06807897773876838 Centerline is valid? [True, True] Translation: X:150.63, Y:-11.57, Z:-2.91 [[ 9.97557319e-01 6.80453867e-02 -1.57867517e-02 1.50626677e+02] [-6.80386381e-02 9.97682220e-01 9.64803062e-04 -1.15697834e+01] [ 1.58158119e-02 1.11662734e-04 9.99874916e-01 -2.91434123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14241403699998 meters 0.0679565726764927 Centerline is valid? [True, True] Translation: X:150.69, Y:-11.59, Z:-2.91 [[ 9.97990536e-01 6.18257807e-02 -1.38731035e-02 1.50687142e+02] [-6.18199998e-02 9.98086956e-01 8.45565709e-04 -1.15938100e+01] [ 1.38988414e-02 1.37686783e-05 9.99903406e-01 -2.91292557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20241403699998 meters 0.06808946273490062 Centerline is valid? [True, True] Translation: X:150.75, Y:-11.61, Z:-2.91 [[ 9.98176327e-01 5.85128873e-02 -1.48412585e-02 1.50748080e+02] [-5.85057998e-02 9.98286652e-01 9.11650163e-04 -1.16099458e+01] [ 1.48691735e-02 -4.16879148e-05 9.99889447e-01 -2.91405401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26241403699999 meters 0.06866357290602844 Centerline is valid? [True, True] Translation: X:150.81, Y:-11.63, Z:-2.92 [[ 9.98452772e-01 5.27620355e-02 -1.75564591e-02 1.50807669e+02] [-5.27512901e-02 9.98607103e-01 1.07490584e-03 -1.16312858e+01] [ 1.75887190e-02 -1.47116849e-04 9.99845296e-01 -2.91505767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322414037 meters 0.06866992383191799 Centerline is valid? [True, True] Translation: X:150.87, Y:-11.64, Z:-2.91 [[ 9.98472104e-01 5.21350731e-02 -1.83137021e-02 1.50869183e+02] [-5.21231256e-02 9.98640027e-01 1.12942812e-03 -1.16404191e+01] [ 1.83476788e-02 -1.73135081e-04 9.99831652e-01 -2.91490715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382414037 meters 0.06877008051076457 Centerline is valid? [True, True] Translation: X:150.93, Y:-11.66, Z:-2.91 [[ 9.98694971e-01 4.84413150e-02 -1.61800342e-02 1.50930835e+02] [-4.84314310e-02 9.98826007e-01 1.00238366e-03 -1.16561679e+01] [ 1.62095957e-02 -2.17453306e-04 9.99868592e-01 -2.91492425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442414037 meters 0.06909663949754848 Centerline is valid? [True, True] Translation: X:150.99, Y:-11.67, Z:-2.92 [[ 9.98811862e-01 4.60045395e-02 -1.60762480e-02 1.50992039e+02] [-4.59944035e-02 9.98941197e-01 9.99854948e-04 -1.16689468e+01] [ 1.61052243e-02 -2.59249545e-04 9.99870269e-01 -2.91579136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502414037 meters 0.06954654259006386 Centerline is valid? [True, True] Translation: X:151.05, Y:-11.69, Z:-2.92 [[ 9.99035170e-01 3.90827374e-02 -2.00316752e-02 1.51051554e+02] [-3.90657181e-02 9.99235874e-01 1.24038170e-03 -1.16855386e+01] [ 2.00648460e-02 -4.56633168e-04 9.99798576e-01 -2.91642836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562414037 meters 0.0704473393060516 Centerline is valid? [True, True] Translation: X:151.11, Y:-11.70, Z:-2.92 [[ 9.99376741e-01 3.06407112e-02 -1.75293089e-02 1.51110871e+02] [-3.06263502e-02 9.99530312e-01 1.08718300e-03 -1.17013990e+01] [ 1.75543877e-02 -5.49646651e-04 9.99845759e-01 -2.91809098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622414037 meters 0.0708415394591824 Centerline is valid? [True, True] Translation: X:151.17, Y:-11.71, Z:-2.91 [[ 9.99578451e-01 2.46071030e-02 -1.54081317e-02 1.51171447e+02] [-2.45952859e-02 9.99697033e-01 9.55995799e-04 -1.17149023e+01] [ 1.54269878e-02 -5.76625397e-04 9.99880831e-01 -2.91488309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682414037 meters 0.07252731111439634 Centerline is valid? [True, True] Translation: X:151.23, Y:-11.73, Z:-2.92 [[ 9.99541374e-01 2.19313176e-02 -2.08820389e-02 1.51230223e+02] [-2.19090576e-02 9.99759130e-01 1.29419762e-03 -1.17280986e+01] [ 2.09053925e-02 -8.36098274e-04 9.99781109e-01 -2.92090333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74241403699997 meters 0.07075084742548261 Centerline is valid? [True, True] Translation: X:151.29, Y:-11.72, Z:-2.92 [[ 9.99337784e-01 2.79012450e-02 -2.33562447e-02 1.51290815e+02] [-2.78750340e-02 9.99610368e-01 1.44710824e-03 -1.17249981e+01] [ 2.33875205e-02 -7.95093822e-04 9.99726158e-01 -2.92075525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80241403699998 meters 0.06962113170155294 Centerline is valid? [True, True] Translation: X:151.35, Y:-11.72, Z:-2.92 [[ 9.99046552e-01 3.83905593e-02 -2.07882705e-02 1.51351464e+02] [-3.83720677e-02 9.99262691e-01 1.28782419e-03 -1.17234120e+01] [ 2.08223834e-02 -4.88907389e-04 9.99783071e-01 -2.92262667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86241403699998 meters 0.0690899243032333 Centerline is valid? [True, True] Translation: X:151.41, Y:-11.72, Z:-2.92 [[ 9.99042983e-01 4.00744237e-02 -1.75259624e-02 1.51413150e+02] [-4.00615039e-02 9.99196624e-01 1.08778829e-03 -1.17246840e+01] [ 1.75554750e-02 -3.84630843e-04 9.99845817e-01 -2.92205806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92241403699998 meters 0.0694454784527368 Centerline is valid? [True, True] Translation: X:151.47, Y:-11.73, Z:-2.92 [[ 9.99172705e-01 3.79548411e-02 -1.46060380e-02 1.51474449e+02] [-3.79455857e-02 9.99279392e-01 9.10382261e-04 -1.17280164e+01] [ 1.46300662e-02 -3.55394437e-04 9.99892912e-01 -2.92315272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98241403699998 meters 0.07039212305735755 Centerline is valid? [True, True] Translation: X:151.53, Y:-11.73, Z:-2.93 [[ 9.99211544e-01 3.49798104e-02 -1.87804045e-02 1.51534193e+02] [-3.49640216e-02 9.99387889e-01 1.16849786e-03 -1.17313604e+01] [ 1.88097827e-02 -5.10938077e-04 9.99822950e-01 -2.92680014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042414037 meters 0.06999401918301046 Centerline is valid? [True, True] Translation: X:151.60, Y:-11.73, Z:-2.93 [[ 9.99210724e-01 3.43697282e-02 -1.99160914e-02 1.51596669e+02] [-3.43516760e-02 9.99409028e-01 1.24791465e-03 -1.17314838e+01] [ 1.99472120e-02 -5.62778585e-04 9.99800876e-01 -2.92642545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102414037 meters 0.07008202867091873 Centerline is valid? [True, True] Translation: X:151.66, Y:-11.73, Z:-2.93 [[ 9.99212816e-01 3.47784710e-02 -1.90842152e-02 1.51658664e+02] [-3.47620152e-02 9.99394906e-01 1.19343177e-03 -1.17310473e+01] [ 1.91141731e-02 -5.29086539e-04 9.99817168e-01 -2.92763685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162414037 meters 0.07005627090613294 Centerline is valid? [True, True] Translation: X:151.72, Y:-11.73, Z:-2.93 [[ 9.99107847e-01 3.69504870e-02 -2.04492223e-02 1.51720345e+02] [-3.69318745e-02 9.99316957e-01 1.28721314e-03 -1.17330749e+01] [ 2.04828178e-02 -5.30836640e-04 9.99790064e-01 -2.92913326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222414037 meters 0.06998136616280907 Centerline is valid? [True, True] Translation: X:151.78, Y:-11.73, Z:-2.93 [[ 9.98907490e-01 4.02649975e-02 -2.37182856e-02 1.51782533e+02] [-4.02407690e-02 9.99188889e-01 1.49810722e-03 -1.17338504e+01] [ 2.37593688e-02 -5.42028469e-04 9.99717559e-01 -2.93142923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282414037 meters 0.06957461699966688 Centerline is valid? [True, True] Translation: X:151.84, Y:-11.74, Z:-2.93 [[ 9.98633344e-01 4.72716754e-02 -2.22897651e-02 1.51843590e+02] [-4.72521009e-02 9.98882008e-01 1.40434609e-03 -1.17352056e+01] [ 2.23312311e-02 -3.49188605e-04 9.99750566e-01 -2.93357844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342414037 meters 0.06928237722832054 Centerline is valid? [True, True] Translation: X:151.91, Y:-11.74, Z:-2.93 [[ 9.98543377e-01 4.99276940e-02 -2.04536027e-02 1.51905185e+02] [-4.99117334e-02 9.98752799e-01 1.29039908e-03 -1.17379650e+01] [ 2.04925196e-02 -2.67644687e-04 9.99789970e-01 -2.93386335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402414037 meters 0.06916404799240135 Centerline is valid? [True, True] Translation: X:151.97, Y:-11.74, Z:-2.94 [[ 9.98532468e-01 5.08794381e-02 -1.85524392e-02 1.51967494e+02] [-5.08663216e-02 9.98704775e-01 1.17850661e-03 -1.17400905e+01] [ 1.85883714e-02 -2.33082777e-04 9.99827194e-01 -2.93682046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462414037 meters 0.0691328275677068 Centerline is valid? [True, True] Translation: X:152.03, Y:-11.75, Z:-2.93 [[ 9.98651877e-01 4.90430983e-02 -1.70059825e-02 1.52029742e+02] [-4.90317318e-02 9.98796632e-01 1.08493702e-03 -1.17459160e+01] [ 1.70387267e-02 -2.49641617e-04 9.99854799e-01 -2.93446433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52241403699998 meters 0.06919549690697292 Centerline is valid? [True, True] Translation: X:152.09, Y:-11.75, Z:-2.93 [[ 9.98575878e-01 4.99279621e-02 -1.87993273e-02 1.52091356e+02] [-4.99141479e-02 9.98752787e-01 1.20361637e-03 -1.17502112e+01] [ 1.88359746e-02 -2.63549875e-04 9.99822553e-01 -2.93407547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58241403699998 meters 0.06894220963774747 Centerline is valid? [True, True] Translation: X:152.15, Y:-11.75, Z:-2.94 [[ 9.98305009e-01 5.46144052e-02 -2.01090841e-02 1.52154717e+02] [-5.45994257e-02 9.98507501e-01 1.29360015e-03 -1.17504670e+01] [ 2.01497205e-02 -1.93463066e-04 9.99796955e-01 -2.93606798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64241403699998 meters 0.06883187871729239 Centerline is valid? [True, True] Translation: X:152.22, Y:-11.75, Z:-2.94 [[ 9.98332128e-01 5.49317362e-02 -1.77613642e-02 1.52216425e+02] [-5.49201490e-02 9.98490099e-01 1.13986239e-03 -1.17543561e+01] [ 1.77971609e-02 -1.62504478e-04 9.99841605e-01 -2.93661646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70241403699998 meters 0.06921079408755214 Centerline is valid? [True, True] Translation: X:152.28, Y:-11.76, Z:-2.94 [[ 9.98518268e-01 5.06722071e-02 -1.98392431e-02 1.52276807e+02] [-5.06569176e-02 9.98715303e-01 1.27278311e-03 -1.17640537e+01] [ 1.98782505e-02 -2.65902286e-04 9.99802373e-01 -2.93665293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76241403699999 meters 0.06991762575524091 Centerline is valid? [True, True] Translation: X:152.34, Y:-11.77, Z:-2.94 [[ 9.98652811e-01 4.60817349e-02 -2.38544798e-02 1.52336866e+02] [-4.60583241e-02 9.98937580e-01 1.53019312e-03 -1.17744182e+01] [ 2.38996502e-02 -4.29434302e-04 9.99714270e-01 -2.94038148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822414037 meters 0.0705229265308333 Centerline is valid? [True, True] Translation: X:152.40, Y:-11.78, Z:-2.95 [[ 9.98821852e-01 4.15867638e-02 -2.50089977e-02 1.52397548e+02] [-4.15596066e-02 9.99134737e-01 1.60490601e-03 -1.17823345e+01] [ 2.50541012e-02 -5.63651084e-04 9.99685938e-01 -2.94518700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882414037 meters 0.0706564711164974 Centerline is valid? [True, True] Translation: X:152.46, Y:-11.79, Z:-2.95 [[ 9.98934625e-01 4.06436265e-02 -2.18565724e-02 1.52457277e+02] [-4.06226507e-02 9.99173574e-01 1.40301920e-03 -1.17890538e+01] [ 2.18955333e-02 -5.13652558e-04 9.99760132e-01 -2.94509723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942414037 meters 0.06966577708598494 Centerline is valid? [True, True] Translation: X:152.52, Y:-11.79, Z:-2.94 [[ 9.98997022e-01 4.01239854e-02 -1.98750043e-02 1.52519071e+02] [-4.01063532e-02 9.99194590e-01 1.28511686e-03 -1.17935226e+01] [ 1.99105608e-02 -4.86713977e-04 9.99801647e-01 -2.93833861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002414037 meters 0.06929226756121869 Centerline is valid? [True, True] Translation: X:152.58, Y:-11.79, Z:-2.94 [[ 9.98928945e-01 4.25053072e-02 -1.82828258e-02 1.52580678e+02] [-4.24908272e-02 9.99096160e-01 1.17990471e-03 -1.17946816e+01] [ 1.83164533e-02 -4.01788576e-04 9.99832159e-01 -2.94071823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062414037 meters 0.06892769725216846 Centerline is valid? [True, True] Translation: X:152.64, Y:-11.80, Z:-2.94 [[ 9.98938349e-01 4.30331658e-02 -1.64414737e-02 1.52642532e+02] [-4.30213996e-02 9.99073579e-01 1.06882740e-03 -1.17971325e+01] [ 1.64722370e-02 -3.60357464e-04 9.99864259e-01 -2.94173209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122414037 meters 0.0690212886293471 Centerline is valid? [True, True] Translation: X:152.70, Y:-11.80, Z:-2.94 [[ 9.98914537e-01 4.23158533e-02 -1.94709178e-02 1.52703760e+02] [-4.22992939e-02 9.99104188e-01 1.26171029e-03 -1.18014688e+01] [ 1.95068659e-02 -4.36734669e-04 9.99809628e-01 -2.94074249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182414037 meters 0.06964426163645973 Centerline is valid? [True, True] Translation: X:152.76, Y:-11.81, Z:-2.95 [[ 9.98873028e-01 4.05448161e-02 -2.46737129e-02 1.52764143e+02] [-4.05176990e-02 9.99177543e-01 1.59817941e-03 -1.18055079e+01] [ 2.47182177e-02 -5.96656232e-04 9.99694280e-01 -2.94552197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24241403699997 meters 0.06985740697325245 Centerline is valid? [True, True] Translation: X:152.82, Y:-11.81, Z:-2.95 [[ 9.98856323e-01 4.04524625e-02 -2.54881051e-02 1.52824912e+02] [-4.04234575e-02 9.99181272e-01 1.65240569e-03 -1.18101183e+01] [ 2.55340811e-02 -6.20198536e-04 9.99673760e-01 -2.94820028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30241403699998 meters 0.06967590782227281 Centerline is valid? [True, True] Translation: X:152.89, Y:-11.81, Z:-2.95 [[ 9.98938417e-01 4.08290298e-02 -2.13314236e-02 1.52885675e+02] [-4.08087981e-02 9.99166017e-01 1.38307360e-03 -1.18113055e+01] [ 2.13701031e-02 -5.11095598e-04 9.99771503e-01 -2.94881162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36241403699998 meters 0.06936089942937528 Centerline is valid? [True, True] Translation: X:152.95, Y:-11.81, Z:-2.95 [[ 9.98641364e-01 4.63858049e-02 -2.37441202e-02 1.52947616e+02] [-4.63620664e-02 9.98923499e-01 1.54957787e-03 -1.18116874e+01] [ 2.37904380e-02 -4.46646083e-04 9.99716868e-01 -2.94867548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42241403699998 meters 0.06918399872912968 Centerline is valid? [True, True] Translation: X:153.01, Y:-11.81, Z:-2.95 [[ 9.98481510e-01 5.03720843e-02 -2.23008235e-02 1.53008276e+02] [-5.03522018e-02 9.98730467e-01 1.45253751e-03 -1.18140578e+01] [ 2.23456792e-02 -3.27436287e-04 9.99750251e-01 -2.95092513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48241403699998 meters 0.06886174953291635 Centerline is valid? [True, True] Translation: X:153.07, Y:-11.82, Z:-2.95 [[ 9.98244625e-01 5.49774371e-02 -2.20261136e-02 1.53070223e+02] [-5.49589595e-02 9.98487570e-01 1.44381493e-03 -1.18167865e+01] [ 2.20721779e-02 -2.30748210e-04 9.99756353e-01 -2.95232255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542414037 meters 0.06867504964276254 Centerline is valid? [True, True] Translation: X:153.13, Y:-11.83, Z:-2.95 [[ 9.98229023e-01 5.55681242e-02 -2.12367976e-02 1.53131721e+02] [-5.55509663e-02 9.98454875e-01 1.39746471e-03 -1.18258759e+01] [ 2.12816386e-02 -2.15265204e-04 9.99773497e-01 -2.95205601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602414037 meters 0.06857504571625174 Centerline is valid? [True, True] Translation: X:153.19, Y:-11.83, Z:-2.95 [[ 9.98318319e-01 5.51239806e-02 -1.79410578e-02 1.53191792e+02] [-5.51117207e-02 9.98479500e-01 1.17742510e-03 -1.18334591e+01] [ 1.79786828e-02 -1.86682479e-04 9.99838353e-01 -2.95256087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662414037 meters 0.06836834415749819 Centerline is valid? [True, True] Translation: X:153.25, Y:-11.84, Z:-2.95 [[ 9.98105477e-01 5.77764712e-02 -2.11503213e-02 1.53252978e+02] [-5.77598441e-02 9.98329530e-01 1.39669215e-03 -1.18412702e+01] [ 2.11956863e-02 -1.72406817e-04 9.99775331e-01 -2.95227071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722414037 meters 0.06871360899071373 Centerline is valid? [True, True] Translation: X:153.31, Y:-11.85, Z:-2.96 [[ 9.97802897e-01 6.13374428e-02 -2.50419137e-02 1.53313530e+02] [-6.13153599e-02 9.98117080e-01 1.64945895e-03 -1.18466628e+01] [ 2.50959354e-02 -1.10380965e-04 9.99685041e-01 -2.95719828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782414037 meters 0.06836169436504418 Centerline is valid? [True, True] Translation: X:153.38, Y:-11.85, Z:-2.96 [[ 9.97430652e-01 6.82907059e-02 -2.16442494e-02 1.53375165e+02] [-6.82758068e-02 9.97665463e-01 1.42745317e-03 -1.18535829e+01] [ 2.16912019e-02 5.39930395e-05 9.99764717e-01 -2.95613027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842414037 meters 0.06832093091126779 Centerline is valid? [True, True] Translation: X:153.44, Y:-11.86, Z:-2.96 [[ 9.97058921e-01 7.37301341e-02 -2.09135197e-02 1.53437687e+02] [-7.37172161e-02 9.97278217e-01 1.38899380e-03 -1.18582996e+01] [ 2.09590083e-02 1.56777787e-04 9.99780324e-01 -2.95871767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902414037 meters 0.06868377576976156 Centerline is valid? [True, True] Translation: X:153.50, Y:-11.86, Z:-2.96 [[ 9.96392554e-01 8.22205186e-02 -2.10158297e-02 1.53498854e+02] [-8.22093754e-02 9.96614104e-01 1.39508781e-03 -1.18646170e+01] [ 2.10593771e-02 3.37643128e-04 9.99778170e-01 -2.96243725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962414037 meters 0.06832765794358729 Centerline is valid? [True, True] Translation: X:153.56, Y:-11.87, Z:-2.96 [[ 9.96129002e-01 8.59081405e-02 -1.86226297e-02 1.53560395e+02] [-8.58998995e-02 9.96302997e-01 1.24346590e-03 -1.18730935e+01] [ 1.86606057e-02 3.61029579e-04 9.99825811e-01 -2.95882298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02241403699998 meters 0.06816104170783743 Centerline is valid? [True, True] Translation: X:153.62, Y:-11.89, Z:-2.96 [[ 9.96072529e-01 8.65104773e-02 -1.88534704e-02 1.53622054e+02] [-8.65020522e-02 9.96250871e-01 1.26345154e-03 -1.18892021e+01] [ 1.88920882e-02 3.72374514e-04 9.99821459e-01 -2.95802007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08241403699998 meters 0.06785347754394636 Centerline is valid? [True, True] Translation: X:153.68, Y:-11.90, Z:-2.96 [[ 9.96290571e-01 8.38098150e-02 -1.95195715e-02 1.53683470e+02] [-8.38001714e-02 9.96481715e-01 1.31291458e-03 -1.19031086e+01] [ 1.95609312e-02 3.27699017e-04 9.99808613e-01 -2.95860049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14241403699998 meters 0.06785514676453207 Centerline is valid? [True, True] Translation: X:153.74, Y:-11.92, Z:-2.96 [[ 9.96967891e-01 7.55912013e-02 -1.84660156e-02 1.53742327e+02] [-7.55812287e-02 9.97138879e-01 1.23835436e-03 -1.19227688e+01] [ 1.85067907e-02 1.61084606e-04 9.99828722e-01 -2.96090714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20241403699998 meters 0.06780503142645533 Centerline is valid? [True, True] Translation: X:153.80, Y:-11.95, Z:-2.96 [[ 9.97818087e-01 6.38485597e-02 -1.68055549e-02 1.53802159e+02] [-6.38386172e-02 9.97959598e-01 1.12796273e-03 -1.19472230e+01] [ 1.68432836e-02 -5.26582313e-05 9.99858140e-01 -2.95755182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26241403699999 meters 0.06824226330958834 Centerline is valid? [True, True] Translation: X:153.86, Y:-11.96, Z:-2.96 [[ 9.98302193e-01 5.59470912e-02 -1.62066244e-02 1.53862151e+02] [-5.59366862e-02 9.98433717e-01 1.09497031e-03 -1.19617543e+01] [ 1.62425006e-02 -1.86566396e-04 9.99868064e-01 -2.96143841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322414037 meters 0.0679234137376312 Centerline is valid? [True, True] Translation: X:153.92, Y:-11.98, Z:-2.96 [[ 9.98663628e-01 4.97140477e-02 -1.41234086e-02 1.53923320e+02] [-4.97054602e-02 9.98763460e-01 9.58626227e-04 -1.19778826e+01] [ 1.41536016e-02 -2.55334623e-04 9.99899800e-01 -2.95628419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382414037 meters 0.06793368889360189 Centerline is valid? [True, True] Translation: X:153.98, Y:-11.99, Z:-2.96 [[ 9.98595650e-01 5.05016571e-02 -1.60096958e-02 1.53983558e+02] [-5.04907361e-02 9.98723939e-01 1.08587445e-03 -1.19893689e+01] [ 1.60441049e-02 -2.76008175e-04 9.99871247e-01 -2.95994376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442414037 meters 0.06818568155612025 Centerline is valid? [True, True] Translation: X:154.04, Y:-11.99, Z:-2.97 [[ 9.98396388e-01 5.25502328e-02 -2.10505312e-02 1.54043835e+02] [-5.25318355e-02 9.98618231e-01 1.42636416e-03 -1.19932542e+01] [ 2.10964000e-02 -3.18253786e-04 9.99777396e-01 -2.96840968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502414037 meters 0.0680578698279718 Centerline is valid? [True, True] Translation: X:154.11, Y:-12.00, Z:-2.97 [[ 9.98539457e-01 5.09305371e-02 -1.80286832e-02 1.54106150e+02] [-5.09166331e-02 9.98702150e-01 1.22969184e-03 -1.19964931e+01] [ 1.80679135e-02 -3.09935975e-04 9.99836714e-01 -2.96630444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562414037 meters 0.0681994136730224 Centerline is valid? [True, True] Translation: X:154.17, Y:-12.01, Z:-2.96 [[ 9.98873138e-01 4.53110844e-02 -1.41195057e-02 1.54167730e+02] [-4.53019319e-02 9.98972872e-01 9.67542399e-04 -1.20061453e+01] [ 1.41488436e-02 -3.26811227e-04 9.99899847e-01 -2.96048060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622414037 meters 0.06851674990544114 Centerline is valid? [True, True] Translation: X:154.23, Y:-12.01, Z:-2.96 [[ 9.99173910e-01 3.84873877e-02 -1.30468143e-02 1.54228410e+02] [-3.84790388e-02 9.99259011e-01 8.90433524e-04 -1.20142705e+01] [ 1.30714172e-02 -3.87669071e-04 9.99914490e-01 -2.96018311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682414037 meters 0.06955442573887037 Centerline is valid? [True, True] Translation: X:154.29, Y:-12.02, Z:-2.97 [[ 9.99505471e-01 2.93540413e-02 -1.12762690e-02 1.54289197e+02] [-2.93472260e-02 9.99568981e-01 7.69424082e-04 -1.20181735e+01] [ 1.12939944e-02 -4.38116366e-04 9.99936125e-01 -2.96561463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74241403699997 meters 0.070067123647553 Centerline is valid? [True, True] Translation: X:154.35, Y:-12.02, Z:-2.96 [[ 9.99726346e-01 2.20676485e-02 -7.76215538e-03 1.54350020e+02] [-2.20641967e-02 9.99756415e-01 5.30061189e-04 -1.20227044e+01] [ 7.77196184e-03 -3.58650413e-04 9.99969734e-01 -2.96068269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80241403699998 meters 0.07091420383453605 Centerline is valid? [True, True] Translation: X:154.41, Y:-12.03, Z:-2.96 [[ 9.99739909e-01 1.91437324e-02 -1.23948025e-02 1.54410155e+02] [-1.91347115e-02 9.99816557e-01 8.45986565e-04 -1.20256330e+01] [ 1.24087241e-02 -6.08595562e-04 9.99922824e-01 -2.96207898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86241403699998 meters 0.07155557266366741 Centerline is valid? [True, True] Translation: X:154.47, Y:-12.02, Z:-2.97 [[ 9.99662063e-01 1.82339595e-02 -1.85278933e-02 1.54470812e+02] [-1.82136407e-02 9.99833318e-01 1.26482971e-03 -1.20180323e+01] [ 1.85478678e-02 -9.26941885e-04 9.99827544e-01 -2.96980183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92241403699998 meters 0.07204929993255021 Centerline is valid? [True, True] Translation: X:154.53, Y:-12.02, Z:-2.97 [[ 9.99668705e-01 1.98880145e-02 -1.63385418e-02 1.54531113e+02] [-1.98724371e-02 9.99801902e-01 1.11522902e-03 -1.20157912e+01] [ 1.63574849e-02 -7.90172907e-04 9.99865895e-01 -2.97316984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98241403699998 meters 0.07101641334302719 Centerline is valid? [True, True] Translation: X:154.59, Y:-12.01, Z:-2.97 [[ 9.99565061e-01 2.66371233e-02 -1.26551013e-02 1.54592334e+02] [-2.66283187e-02 9.99645030e-01 8.63754712e-04 -1.20063853e+01] [ 1.26736171e-02 -5.26394960e-04 9.99919548e-01 -2.97191107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042414037 meters 0.06942438211404614 Centerline is valid? [True, True] Translation: X:154.65, Y:-11.99, Z:-2.98 [[ 9.99119225e-01 4.09089251e-02 -9.33994449e-03 1.54652843e+02] [-4.09047564e-02 9.99162847e-01 6.37001551e-04 -1.19870214e+01] [ 9.35818458e-03 -2.54392342e-04 9.99956179e-01 -2.97678532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102414037 meters 0.06934982867593957 Centerline is valid? [True, True] Translation: X:154.71, Y:-11.98, Z:-2.98 [[ 9.98856454e-01 4.66914415e-02 -1.02807246e-02 1.54713469e+02] [-4.66866879e-02 9.98909335e-01 7.02019970e-04 -1.19800460e+01] [ 1.03022901e-02 -2.21244199e-04 9.99946906e-01 -2.98168492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162414037 meters 0.06884862677368046 Centerline is valid? [True, True] Translation: X:154.78, Y:-11.98, Z:-2.98 [[ 9.98781523e-01 4.78850987e-02 -1.19367638e-02 1.54775879e+02] [-4.78786903e-02 9.98852819e-01 8.22211247e-04 -1.19794705e+01] [ 1.19624418e-02 -2.49692784e-04 9.99928416e-01 -2.97980582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222414037 meters 0.06899954386828155 Centerline is valid? [True, True] Translation: X:154.84, Y:-11.98, Z:-2.98 [[ 9.98905272e-01 4.57058662e-02 -9.96149711e-03 1.54839403e+02] [-4.57012521e-02 9.98954913e-01 6.90450369e-04 -1.19794690e+01] [ 9.98264411e-03 -2.34441623e-04 9.99950145e-01 -2.97953035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282414037 meters 0.0695229992347401 Centerline is valid? [True, True] Translation: X:154.90, Y:-11.98, Z:-2.98 [[ 9.99185241e-01 3.95675396e-02 -7.95383153e-03 1.54901209e+02] [-3.95643889e-02 9.99216870e-01 5.53139988e-04 -1.19791500e+01] [ 7.96948904e-03 -2.38000828e-04 9.99968215e-01 -2.98253755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342414037 meters 0.0700584428725434 Centerline is valid? [True, True] Translation: X:154.96, Y:-11.98, Z:-2.98 [[ 9.99280733e-01 3.74771541e-02 -5.78607362e-03 1.54963464e+02] [-3.74754356e-02 9.99297467e-01 4.05193434e-04 -1.19830033e+01] [ 5.79719421e-03 -1.88066362e-04 9.99983178e-01 -2.98360132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402414037 meters 0.07010248446393245 Centerline is valid? [True, True] Translation: X:155.03, Y:-11.98, Z:-2.98 [[ 9.99249063e-01 3.79620549e-02 -7.75833758e-03 1.55025999e+02] [-3.79589765e-02 9.99279150e-01 5.43703632e-04 -1.19840536e+01] [ 7.77338509e-03 -2.48796792e-04 9.99969756e-01 -2.98132727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462414037 meters 0.06994203204544532 Centerline is valid? [True, True] Translation: X:155.09, Y:-11.98, Z:-2.98 [[ 9.99131379e-01 4.00887598e-02 -1.13744990e-02 1.55087959e+02] [-4.00822783e-02 9.99196064e-01 7.97318044e-04 -1.19823264e+01] [ 1.13973181e-02 -3.40709644e-04 9.99934990e-01 -2.98265713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52241403699998 meters 0.0705422475195356 Centerline is valid? [True, True] Translation: X:155.15, Y:-11.98, Z:-2.99 [[ 9.98991346e-01 4.10021159e-02 -1.83062105e-02 1.55148137e+02] [-4.09855613e-02 9.99158921e-01 1.27873136e-03 -1.19813929e+01] [ 1.83432442e-02 -5.27151248e-04 9.99831610e-01 -2.98793816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58241403699998 meters 0.07034959989162168 Centerline is valid? [True, True] Translation: X:155.21, Y:-11.98, Z:-2.99 [[ 9.99008962e-01 4.03074169e-02 -1.88786941e-02 1.55210591e+02] [-4.02895347e-02 9.99187166e-01 1.32675892e-03 -1.19845288e+01] [ 1.89168270e-02 -5.64830251e-04 9.99820901e-01 -2.98551853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64241403699998 meters 0.07028809795684803 Centerline is valid? [True, True] Translation: X:155.27, Y:-11.98, Z:-2.99 [[ 9.99086232e-01 3.77947362e-02 -1.99564286e-02 1.55271872e+02] [-3.77743216e-02 9.99285316e-01 1.39906370e-03 -1.19849889e+01] [ 1.99950433e-02 -6.43944726e-04 9.99799872e-01 -2.98600493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70241403699998 meters 0.07096579618141244 Centerline is valid? [True, True] Translation: X:155.33, Y:-11.99, Z:-2.99 [[ 9.99160617e-01 3.56087821e-02 -2.02503353e-02 1.55332312e+02] [-3.55872990e-02 9.99365562e-01 1.42036773e-03 -1.19878879e+01] [ 2.02880653e-02 -6.98520759e-04 9.99793932e-01 -2.99043841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76241403699999 meters 0.07130184600683577 Centerline is valid? [True, True] Translation: X:155.39, Y:-11.99, Z:-2.99 [[ 9.99400359e-01 2.97611547e-02 -1.76973258e-02 1.55393195e+02] [-2.97438309e-02 9.99556784e-01 1.24135978e-03 -1.19938738e+01] [ 1.77264263e-02 -7.14229145e-04 9.99842619e-01 -2.98783410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822414037 meters 0.07118404867971331 Centerline is valid? [True, True] Translation: X:155.45, Y:-12.00, Z:-2.99 [[ 9.99455855e-01 2.77210207e-02 -1.78756675e-02 1.55454984e+02] [-2.77029801e-02 9.99615410e-01 1.25610759e-03 -1.19977295e+01] [ 1.79036133e-02 -7.60214819e-04 9.99839428e-01 -2.98701831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882414037 meters 0.07088494071028932 Centerline is valid? [True, True] Translation: X:155.52, Y:-12.00, Z:-2.99 [[ 9.99449368e-01 2.98498071e-02 -1.44896213e-02 1.55515982e+02] [-2.98381794e-02 9.99554224e-01 1.01805034e-03 -1.19951547e+01] [ 1.45135508e-02 -5.85145851e-04 9.99894502e-01 -2.99014801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942414037 meters 0.0704254743578418 Centerline is valid? [True, True] Translation: X:155.58, Y:-11.99, Z:-2.99 [[ 9.99173603e-01 3.77748970e-02 -1.50056252e-02 1.55575584e+02] [-3.77633345e-02 9.99286156e-01 1.05324956e-03 -1.19909539e+01] [ 1.50346999e-02 -4.85716716e-04 9.99886855e-01 -2.99267819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002414037 meters 0.07035079343814732 Centerline is valid? [True, True] Translation: X:155.64, Y:-11.99, Z:-3.00 [[ 9.98920897e-01 4.30838856e-02 -1.73442009e-02 1.55637647e+02] [-4.30690854e-02 9.99071344e-01 1.22612158e-03 -1.19892798e+01] [ 1.73809202e-02 -4.77799593e-04 9.99848826e-01 -2.99512527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062414037 meters 0.06987006859663353 Centerline is valid? [True, True] Translation: X:155.70, Y:-11.99, Z:-3.00 [[ 9.98507914e-01 5.06657636e-02 -2.03697217e-02 1.55700155e+02] [-5.06468443e-02 9.98715581e-01 1.44393911e-03 -1.19855037e+01] [ 2.04167167e-02 -4.10122501e-04 9.99791473e-01 -2.99724273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122414037 meters 0.06896723836875451 Centerline is valid? [True, True] Translation: X:155.76, Y:-11.98, Z:-3.00 [[ 9.98340336e-01 5.42545246e-02 -1.93137160e-02 1.55761938e+02] [-5.42382404e-02 9.98527088e-01 1.36635163e-03 -1.19822949e+01] [ 1.93593993e-02 -3.16541973e-04 9.99812539e-01 -2.99550605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182414037 meters 0.06854519155705807 Centerline is valid? [True, True] Translation: X:155.82, Y:-11.98, Z:-3.00 [[ 9.98172306e-01 5.83520245e-02 -1.57190725e-02 1.55823322e+02] [-5.83417450e-02 9.98296050e-01 1.11211902e-03 -1.19798044e+01] [ 1.57571823e-02 -1.93008291e-04 9.99875829e-01 -2.99634470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24241403699997 meters 0.06914616050541914 Centerline is valid? [True, True] Translation: X:155.88, Y:-11.98, Z:-3.00 [[ 9.98127307e-01 5.71816890e-02 -2.17286132e-02 1.55883638e+02] [-5.71617686e-02 9.98363746e-01 1.53728610e-03 -1.19840687e+01] [ 2.17809642e-02 -2.92361279e-04 9.99762724e-01 -2.99936751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30241403699998 meters 0.06943539899578129 Centerline is valid? [True, True] Translation: X:155.95, Y:-11.99, Z:-3.00 [[ 9.98376636e-01 5.30278680e-02 -2.07879499e-02 1.55945024e+02] [-5.30085514e-02 9.98592962e-01 1.47954053e-03 -1.19897458e+01] [ 2.08371573e-02 -3.75199589e-04 9.99782812e-01 -3.00021187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36241403699998 meters 0.06972889048893692 Centerline is valid? [True, True] Translation: X:156.01, Y:-12.00, Z:-3.00 [[ 9.98720595e-01 4.64753473e-02 -1.99302592e-02 1.56006764e+02] [-4.64563137e-02 9.98919317e-01 1.41718861e-03 -1.19967294e+01] [ 1.99745852e-02 -4.89489080e-04 9.99800368e-01 -2.99940239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42241403699998 meters 0.07120260404042024 Centerline is valid? [True, True] Translation: X:156.07, Y:-12.01, Z:-3.01 [[ 9.98904502e-01 4.19597152e-02 -2.07166125e-02 1.56066114e+02] [-4.19382077e-02 9.99119122e-01 1.47173656e-03 -1.20065335e+01] [ 2.07601173e-02 -6.01306676e-04 9.99784305e-01 -3.00577598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48241403699998 meters 0.0702671405347108 Centerline is valid? [True, True] Translation: X:156.13, Y:-12.01, Z:-3.00 [[ 9.98946491e-01 4.21117862e-02 -1.82347178e-02 1.56127565e+02] [-4.20951255e-02 9.99112766e-01 1.29671965e-03 -1.20052038e+01] [ 1.82731465e-02 -5.27760817e-04 9.99832893e-01 -3.00430460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542414037 meters 0.06981951828305916 Centerline is valid? [True, True] Translation: X:156.19, Y:-12.01, Z:-3.00 [[ 9.98926872e-01 4.43883943e-02 -1.32202762e-02 1.56188753e+02] [-4.43798359e-02 9.99014287e-01 9.40187689e-04 -1.20054940e+01] [ 1.32489782e-02 -3.52465059e-04 9.99912166e-01 -3.00469885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602414037 meters 0.06968048904274299 Centerline is valid? [True, True] Translation: X:156.25, Y:-12.01, Z:-3.00 [[ 9.98938517e-01 4.48948524e-02 -1.03097711e-02 1.56248875e+02] [-4.48896719e-02 9.98991681e-01 7.33459369e-04 -1.20088024e+01] [ 1.03323041e-02 -2.69878572e-04 9.99946584e-01 -3.00484407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662414037 meters 0.06948499774241082 Centerline is valid? [True, True] Translation: X:156.31, Y:-12.01, Z:-3.01 [[ 9.98950448e-01 4.42034184e-02 -1.20024804e-02 1.56310679e+02] [-4.41962680e-02 9.99022497e-01 8.60464671e-04 -1.20081623e+01] [ 1.20287834e-02 -3.29096729e-04 9.99927597e-01 -3.00592241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722414037 meters 0.06982165569885383 Centerline is valid? [True, True] Translation: X:156.37, Y:-12.01, Z:-3.01 [[ 9.98649998e-01 4.83165818e-02 -1.90706618e-02 1.56371395e+02] [-4.82993707e-02 9.98831975e-01 1.36232490e-03 -1.20095873e+01] [ 1.91142097e-02 -4.39384795e-04 9.99817210e-01 -3.01250264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782414037 meters 0.06948159328799146 Centerline is valid? [True, True] Translation: X:156.43, Y:-12.01, Z:-3.01 [[ 9.98369197e-01 5.34269256e-02 -2.01124279e-02 1.56433247e+02] [-5.34086463e-02 9.98571694e-01 1.44528791e-03 -1.20095377e+01] [ 2.01609184e-02 -3.68753383e-04 9.99796680e-01 -3.01475344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842414037 meters 0.06862642169542064 Centerline is valid? [True, True] Translation: X:156.49, Y:-12.01, Z:-3.01 [[ 9.98319249e-01 5.66302904e-02 -1.23161090e-02 1.56493895e+02] [-5.66237145e-02 9.98395201e-01 8.82254414e-04 -1.20109409e+01] [ 1.23463064e-02 -1.83387725e-04 9.99923765e-01 -3.01274116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902414037 meters 0.06803764953825779 Centerline is valid? [True, True] Translation: X:156.55, Y:-12.02, Z:-3.01 [[ 9.98346893e-01 5.70036247e-02 -7.35302807e-03 1.56554896e+02] [-5.70012842e-02 9.98373966e-01 5.27651330e-04 -1.20158659e+01] [ 7.37114983e-03 -1.07647024e-04 9.99972827e-01 -3.00958983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962414037 meters 0.06824756837116833 Centerline is valid? [True, True] Translation: X:156.62, Y:-12.02, Z:-3.01 [[ 9.98271370e-01 5.80821932e-02 -8.98500645e-03 1.56615249e+02] [-5.80786933e-02 9.98311796e-01 6.50173458e-04 -1.20229510e+01] [ 9.00760143e-03 -1.27212115e-04 9.99959423e-01 -3.01307893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02241403699998 meters 0.06821126347506674 Centerline is valid? [True, True] Translation: X:156.68, Y:-12.03, Z:-3.02 [[ 9.98202621e-01 5.89077115e-02 -1.10185778e-02 1.56676832e+02] [-5.89024753e-02 9.98263422e-01 7.99422654e-04 -1.20273594e+01] [ 1.10465353e-02 -1.48964283e-04 9.99938974e-01 -3.01677102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08241403699998 meters 0.06821352718559459 Centerline is valid? [True, True] Translation: X:156.74, Y:-12.03, Z:-3.02 [[ 9.98194511e-01 5.89380424e-02 -1.15769374e-02 1.56738538e+02] [-5.89322303e-02 9.98261630e-01 8.42834557e-04 -1.20315640e+01] [ 1.16064874e-02 -1.59058089e-04 9.99932630e-01 -3.01852569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14241403699998 meters 0.06854113909255231 Centerline is valid? [True, True] Translation: X:156.80, Y:-12.04, Z:-3.02 [[ 9.98185489e-01 5.97014573e-02 -7.84002245e-03 1.56798314e+02] [-5.96988366e-02 9.98216272e-01 5.68076789e-04 -1.20409415e+01] [ 7.85995299e-03 -9.90057881e-05 9.99969105e-01 -3.02166063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20241403699998 meters 0.0681902363017084 Centerline is valid? [True, True] Translation: X:156.86, Y:-12.05, Z:-3.02 [[ 9.97959005e-01 6.34837149e-02 -6.90240214e-03 1.56860234e+02] [-6.34817323e-02 9.97982872e-01 5.06162567e-04 -1.20450211e+01] [ 6.92061220e-03 -6.69530461e-05 9.99976050e-01 -3.02050252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26241403699999 meters 0.0677812739201284 Centerline is valid? [True, True] Translation: X:156.92, Y:-12.05, Z:-3.02 [[ 9.97320812e-01 7.27791494e-02 -7.37523397e-03 1.56922477e+02] [-7.27771284e-02 9.97348081e-01 5.42391276e-04 -1.20475533e+01] [ 7.39515022e-03 -4.18975839e-06 9.99972655e-01 -3.02088908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322414037 meters 0.06805128017786241 Centerline is valid? [True, True] Translation: X:156.98, Y:-12.05, Z:-3.03 [[ 9.96825643e-01 7.86797302e-02 -1.21711720e-02 1.56981874e+02] [-7.86747276e-02 9.96899942e-01 8.90022133e-04 -1.20537141e+01] [ 1.22034673e-02 7.03667541e-05 9.99925532e-01 -3.02559646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382414037 meters 0.06849511031738603 Centerline is valid? [True, True] Translation: X:157.04, Y:-12.06, Z:-3.03 [[ 9.96711093e-01 7.96122986e-02 -1.51287458e-02 1.57042593e+02] [-7.96046465e-02 9.96825899e-01 1.10828094e-03 -1.20613049e+01] [ 1.51689584e-02 9.96825494e-05 9.99884940e-01 -3.03243183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442414037 meters 0.06813078608791887 Centerline is valid? [True, True] Translation: X:157.10, Y:-12.07, Z:-3.03 [[ 9.96736873e-01 7.94814301e-02 -1.40822058e-02 1.57104493e+02] [-7.94747009e-02 9.96836343e-01 1.03771099e-03 -1.20713729e+01] [ 1.41201333e-02 8.48542851e-05 9.99900302e-01 -3.02852975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502414037 meters 0.06811247446830077 Centerline is valid? [True, True] Translation: X:157.17, Y:-12.08, Z:-3.03 [[ 9.96935314e-01 7.73060802e-02 -1.19895321e-02 1.57166212e+02] [-7.73010017e-02 9.97007406e-01 8.87119736e-04 -1.20831293e+01] [ 1.20222320e-02 4.24018467e-05 9.99927729e-01 -3.02996968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562414037 meters 0.06796967056063798 Centerline is valid? [True, True] Translation: X:157.23, Y:-12.09, Z:-3.03 [[ 9.97082769e-01 7.55862562e-02 -1.06145828e-02 1.57227658e+02] [-7.55821445e-02 9.97139267e-01 7.88561568e-04 -1.20944739e+01] [ 1.06438217e-02 1.60117789e-05 9.99943353e-01 -3.02984485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622414037 meters 0.06798391854481838 Centerline is valid? [True, True] Translation: X:157.29, Y:-12.11, Z:-3.03 [[ 9.97572304e-01 6.91860306e-02 -7.92405744e-03 1.57289155e+02] [-6.91835127e-02 9.97603775e-01 5.91763330e-04 -1.21086836e+01] [ 7.94601137e-03 -4.21125810e-05 9.99968429e-01 -3.02800496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682414037 meters 0.06854957915583972 Centerline is valid? [True, True] Translation: X:157.35, Y:-12.12, Z:-3.03 [[ 9.98303013e-01 5.75800845e-02 -8.69639718e-03 1.57348752e+02] [-5.75766433e-02 9.98340880e-01 6.45746702e-04 -1.21246273e+01] [ 8.71915097e-03 -1.43941520e-04 9.99961977e-01 -3.02789496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74241403699997 meters 0.0704707692622806 Centerline is valid? [True, True] Translation: X:157.41, Y:-12.15, Z:-3.03 [[ 9.99161409e-01 3.91756817e-02 -1.19056351e-02 1.57406706e+02] [-3.91679355e-02 9.99232252e-01 8.83196703e-04 -1.21476954e+01] [ 1.19310944e-02 -4.16136914e-04 9.99928735e-01 -3.02855425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80241403699998 meters 0.07171189856993263 Centerline is valid? [True, True] Translation: X:157.47, Y:-12.16, Z:-3.03 [[ 9.99453660e-01 2.97248097e-02 -1.44505121e-02 1.57467052e+02] [-2.97124106e-02 9.99557914e-01 1.07201776e-03 -1.21570237e+01] [ 1.44759893e-02 -6.42072519e-04 9.99895011e-01 -3.03148153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86241403699998 meters 0.07223015539969001 Centerline is valid? [True, True] Translation: X:157.53, Y:-12.16, Z:-3.03 [[ 9.99629288e-01 2.13706648e-02 -1.68695535e-02 1.57528005e+02] [-2.13525717e-02 9.99771224e-01 1.25193958e-03 -1.21609146e+01] [ 1.68924489e-02 -8.91267115e-04 9.99856915e-01 -3.03109630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92241403699998 meters 0.07339800249196765 Centerline is valid? [True, True] Translation: X:157.59, Y:-12.16, Z:-3.03 [[ 9.99651153e-01 1.67804798e-02 -2.03957814e-02 1.57588534e+02] [-1.67530841e-02 9.99858512e-01 1.51333608e-03 -1.21649465e+01] [ 2.04182901e-02 -1.17111592e-03 9.99790839e-01 -3.03190027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98241403699998 meters 0.07408234169095175 Centerline is valid? [True, True] Translation: X:157.65, Y:-12.17, Z:-3.04 [[ 9.99662442e-01 1.51953816e-02 -2.10737284e-02 1.57648489e+02] [-1.51658132e-02 9.99883772e-01 1.56221121e-03 -1.21650174e+01] [ 2.10950174e-02 -1.24208365e-03 9.99776704e-01 -3.03506277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042414037 meters 0.07394729227913027 Centerline is valid? [True, True] Translation: X:157.71, Y:-12.16, Z:-3.03 [[ 9.99794014e-01 1.32609333e-02 -1.53648006e-02 1.57707753e+02] [-1.32450180e-02 9.99911634e-01 1.13712447e-03 -1.21599664e+01] [ 1.53785222e-02 -9.33383181e-04 9.99881308e-01 -3.03354855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102414037 meters 0.07509836665906375 Centerline is valid? [True, True] Translation: X:157.77, Y:-12.16, Z:-3.03 [[ 9.99842516e-01 1.05161146e-02 -1.42952897e-02 1.57766869e+02] [-1.05020657e-02 9.99944293e-01 1.05748363e-03 -1.21590259e+01] [ 1.43056140e-02 -9.07187019e-04 9.99897258e-01 -3.03155647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162414037 meters 0.0768588690957711 Centerline is valid? [True, True] Translation: X:157.83, Y:-12.16, Z:-3.04 [[ 9.99799578e-01 8.10339499e-03 -1.83068080e-02 1.57826083e+02] [-8.07993994e-03 9.99966439e-01 1.35482348e-03 -1.21591412e+01] [ 1.83171723e-02 -1.20663403e-03 9.99831498e-01 -3.03604982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222414037 meters 0.07795840113961144 Centerline is valid? [True, True] Translation: X:157.89, Y:-12.15, Z:-3.04 [[ 9.99799744e-01 6.41006275e-03 -1.89574171e-02 1.57886257e+02] [-6.38462481e-03 9.99978635e-01 1.40206598e-03 -1.21546124e+01] [ 1.89659994e-02 -1.28074921e-03 9.99819309e-01 -3.04008703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282414037 meters 0.07885145897438985 Centerline is valid? [True, True] Translation: X:157.95, Y:-12.14, Z:-3.04 [[ 9.99834571e-01 4.69886519e-03 -1.75713297e-02 1.57945812e+02] [-4.67677991e-03 9.99988222e-01 1.29777362e-03 -1.21443880e+01] [ 1.75772208e-02 -1.21538169e-03 9.99844770e-01 -3.04251785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342414037 meters 0.08067144954792434 Centerline is valid? [True, True] Translation: X:158.01, Y:-12.13, Z:-3.05 [[ 9.99809175e-01 5.75984917e-03 -1.86664713e-02 1.58005129e+02] [-5.73512933e-03 9.99982605e-01 1.37755282e-03 -1.21312160e+01] [ 1.86740811e-02 -1.27023532e-03 9.99824817e-01 -3.04934775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402414037 meters 0.07552651026962054 Centerline is valid? [True, True] Translation: X:158.07, Y:-12.11, Z:-3.05 [[ 9.99859638e-01 8.26456230e-03 -1.45739741e-02 1.58067943e+02] [-8.24973919e-03 9.99965390e-01 1.07692132e-03 -1.21096865e+01] [ 1.45823700e-02 -9.56538675e-04 9.99893214e-01 -3.04538124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462414037 meters 0.07424983997096808 Centerline is valid? [True, True] Translation: X:158.13, Y:-12.09, Z:-3.05 [[ 9.99841071e-01 1.31646874e-02 -1.20217803e-02 1.58129775e+02] [-1.31549612e-02 9.99913076e-01 8.87768126e-04 -1.20875728e+01] [ 1.20324225e-02 -7.29480981e-04 9.99927342e-01 -3.04500622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52241403699998 meters 0.07458024013870006 Centerline is valid? [True, True] Translation: X:158.19, Y:-12.07, Z:-3.05 [[ 9.99708780e-01 1.84413482e-02 -1.55651077e-02 1.58189928e+02] [-1.84256935e-02 9.99829573e-01 1.14857251e-03 -1.20716951e+01] [ 1.55836362e-02 -8.61440117e-04 9.99878197e-01 -3.05036548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58241403699998 meters 0.07163929257265354 Centerline is valid? [True, True] Translation: X:158.25, Y:-12.06, Z:-3.05 [[ 9.99703133e-01 1.99170869e-02 -1.40341149e-02 1.58251717e+02] [-1.99045060e-02 9.99801349e-01 1.03557290e-03 -1.20550101e+01] [ 1.40519527e-02 -7.55923345e-04 9.99900981e-01 -3.04796197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64241403699998 meters 0.07265646076961751 Centerline is valid? [True, True] Translation: X:158.31, Y:-12.05, Z:-3.05 [[ 9.99831755e-01 1.60953252e-02 -8.79782023e-03 1.58311347e+02] [-1.60902447e-02 9.99870334e-01 6.47961620e-04 -1.20465170e+01] [ 8.80710860e-03 -5.06293524e-04 9.99961088e-01 -3.05082776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70241403699998 meters 0.08601429738100057 Centerline is valid? [True, True] Translation: X:158.37, Y:-12.07, Z:-3.06 [[ 9.99907136e-01 9.10091295e-03 -1.01436472e-02 1.58369500e+02] [-9.09378863e-03 9.99958371e-01 7.48246847e-04 -1.20716640e+01] [ 1.01500346e-02 -6.55933178e-04 9.99948272e-01 -3.06476748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76241403699999 meters 0.09824503785951207 Centerline is valid? [True, True] Translation: X:158.43, Y:-12.08, Z:-3.07 [[ 9.99924905e-01 -3.94934014e-03 -1.16012017e-02 1.58428342e+02] [ 3.95953376e-03 9.99991795e-01 8.55832666e-04 -1.20824599e+01] [ 1.15977266e-02 -9.01703747e-04 9.99932338e-01 -3.06941301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822414037 meters 0.09551935885238413 Centerline is valid? [True, True] Translation: X:158.49, Y:-12.06, Z:-3.07 [[ 9.99823565e-01 -9.54280101e-03 -1.61794096e-02 1.58490297e+02] [ 9.56334412e-03 9.99953559e-01 1.19281101e-03 -1.20619225e+01] [ 1.61672754e-02 -1.34732982e-03 9.99868393e-01 -3.06647442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882414037 meters 0.08163683832933859 Centerline is valid? [True, True] Translation: X:158.55, Y:-12.02, Z:-3.06 [[ 9.99769303e-01 -8.57695492e-03 -1.96920228e-02 1.58552226e+02] [ 8.60698375e-03 9.99961921e-01 1.44067643e-03 -1.20245405e+01] [ 1.96789163e-02 -1.60983299e-03 9.99805055e-01 -3.05971361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942414037 meters 0.08059260904625631 Centerline is valid? [True, True] Translation: X:158.61, Y:-12.02, Z:-3.06 [[ 9.99784231e-01 -6.93200537e-03 -1.95815799e-02 1.58612394e+02] [ 6.96146663e-03 9.99974737e-01 1.43677495e-03 -1.20182704e+01] [ 1.95711254e-02 -1.57278145e-03 9.99807230e-01 -3.06071401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002414037 meters 0.0782891674024313 Centerline is valid? [True, True] Translation: X:158.68, Y:-11.99, Z:-3.06 [[ 9.99860632e-01 -1.76756128e-03 -1.66009842e-02 1.58675096e+02] [ 1.78803564e-03 9.99997659e-01 1.21855994e-03 -1.19939240e+01] [ 1.65987915e-02 -1.24807326e-03 9.99861452e-01 -3.05991397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062414037 meters 0.07603105460199058 Centerline is valid? [True, True] Translation: X:158.74, Y:-11.98, Z:-3.06 [[ 9.99894934e-01 9.27600986e-04 -1.44658569e-02 1.58737040e+02] [-9.12336721e-04 9.99999020e-01 1.06175610e-03 -1.19785194e+01] [ 1.44668276e-02 -1.04844681e-03 9.99894800e-01 -3.05804811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122414037 meters 0.07587119746013751 Centerline is valid? [True, True] Translation: X:158.80, Y:-11.96, Z:-3.06 [[ 9.99899839e-01 1.03469928e-03 -1.41152566e-02 1.58797313e+02] [-1.02020917e-03 9.99998945e-01 1.03371840e-03 -1.19622286e+01] [ 1.41163113e-02 -1.01921435e-03 9.99899840e-01 -3.05726755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182414037 meters 0.07771413199975089 Centerline is valid? [True, True] Translation: X:158.86, Y:-11.95, Z:-3.06 [[ 9.99752910e-01 -7.43539033e-04 -2.22163441e-02 1.58857208e+02] [ 7.79892372e-04 9.99998371e-01 1.62771367e-03 -1.19546149e+01] [ 2.22150976e-02 -1.64463783e-03 9.99751862e-01 -3.06368837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24241403699997 meters 0.0794733323585829 Centerline is valid? [True, True] Translation: X:158.92, Y:-11.95, Z:-3.07 [[ 9.99714456e-01 -4.10237365e-03 -2.35409459e-02 1.58918108e+02] [ 4.14412897e-03 9.99989925e-01 1.72522040e-03 -1.19530105e+01] [ 2.35336312e-02 -1.82228449e-03 9.99721385e-01 -3.06781126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30241403699998 meters 0.08238826117107856 Centerline is valid? [True, True] Translation: X:158.98, Y:-11.95, Z:-3.07 [[ 9.99776516e-01 -1.12468520e-02 -1.79004586e-02 1.58978548e+02] [ 1.12721202e-02 9.99935608e-01 1.31131922e-03 -1.19500666e+01] [ 1.78845577e-02 -1.51280228e-03 9.99838914e-01 -3.06810025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36241403699998 meters 0.07964923377643471 Centerline is valid? [True, True] Translation: X:159.04, Y:-11.94, Z:-3.07 [[ 9.99698598e-01 -1.56529007e-02 -1.89129471e-02 1.59039390e+02] [ 1.56818893e-02 9.99876072e-01 1.38539501e-03 -1.19390006e+01] [ 1.88889178e-02 -1.68156819e-03 9.99820174e-01 -3.06755356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42241403699998 meters 0.08499635869367404 Centerline is valid? [True, True] Translation: X:159.10, Y:-11.94, Z:-3.08 [[ 9.99610484e-01 -1.80806601e-02 -2.12595712e-02 1.59099086e+02] [ 1.81178402e-02 9.99834645e-01 1.55754300e-03 -1.19366872e+01] [ 2.12278944e-02 -1.94211383e-03 9.99772777e-01 -3.07659895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48241403699998 meters 0.0824343217819005 Centerline is valid? [True, True] Translation: X:159.16, Y:-11.91, Z:-3.07 [[ 9.99722337e-01 -1.59765919e-02 -1.73204300e-02 1.59161394e+02] [ 1.60009532e-02 9.99871171e-01 1.26883023e-03 -1.19142034e+01] [ 1.72979271e-02 -1.54562131e-03 9.99849185e-01 -3.07483739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542414037 meters 0.07866583886687671 Centerline is valid? [True, True] Translation: X:159.22, Y:-11.89, Z:-3.07 [[ 9.99752577e-01 -1.26534497e-02 -1.82940979e-02 1.59223575e+02] [ 1.26800732e-02 9.99918707e-01 1.34004081e-03 -1.18948019e+01] [ 1.82756545e-02 -1.57167975e-03 9.99831751e-01 -3.07469701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602414037 meters 0.07830188544037488 Centerline is valid? [True, True] Translation: X:159.28, Y:-11.88, Z:-3.08 [[ 9.99866584e-01 -6.90451345e-03 -1.48034322e-02 1.59284926e+02] [ 6.92131899e-03 9.99975460e-01 1.08431372e-03 -1.18781787e+01] [ 1.47955822e-02 -1.18662833e-03 9.99889835e-01 -3.07728309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662414037 meters 0.0800223240153872 Centerline is valid? [True, True] Translation: X:159.34, Y:-11.88, Z:-3.08 [[ 9.99899520e-01 -5.26164835e-03 -1.31629844e-02 1.59344144e+02] [ 5.27477957e-03 9.99985624e-01 9.63068509e-04 -1.18773261e+01] [ 1.31577278e-02 -1.03240358e-03 9.99912900e-01 -3.07982041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722414037 meters 0.08151670369924428 Centerline is valid? [True, True] Translation: X:159.40, Y:-11.88, Z:-3.08 [[ 9.99885405e-01 -5.99101939e-03 -1.39026519e-02 1.59402512e+02] [ 6.00570869e-03 9.99981450e-01 1.01507313e-03 -1.18762497e+01] [ 1.38963127e-02 -1.09845208e-03 9.99902838e-01 -3.08279397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782414037 meters 0.08040076484863176 Centerline is valid? [True, True] Translation: X:159.46, Y:-11.86, Z:-3.08 [[ 9.99779843e-01 -1.37221160e-02 -1.58735218e-02 1.59464158e+02] [ 1.37422639e-02 9.99904897e-01 1.16089277e-03 -1.18626221e+01] [ 1.58560823e-02 -1.37877532e-03 9.99873334e-01 -3.08143680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842414037 meters 0.09188687584587309 Centerline is valid? [True, True] Translation: X:159.52, Y:-11.88, Z:-3.09 [[ 9.99514741e-01 -2.43935927e-02 -1.93709975e-02 1.59522485e+02] [ 2.44255847e-02 9.99700647e-01 1.41663063e-03 -1.18788199e+01] [ 1.93306420e-02 -1.88909113e-03 9.99811361e-01 -3.08980583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902414037 meters 0.09090926499188709 Centerline is valid? [True, True] Translation: X:159.58, Y:-11.87, Z:-3.09 [[ 9.99393338e-01 -2.96650589e-02 -1.82466367e-02 1.59583856e+02] [ 2.96943184e-02 9.99558135e-01 1.33465802e-03 -1.18731740e+01] [ 1.81989814e-02 -1.87566977e-03 9.99832625e-01 -3.08748324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962414037 meters 0.09219280646260457 Centerline is valid? [True, True] Translation: X:159.65, Y:-11.87, Z:-3.09 [[ 9.99334898e-01 -3.20472399e-02 -1.73993115e-02 1.59645092e+02] [ 3.20741850e-02 9.99484682e-01 1.27172076e-03 -1.18651270e+01] [ 1.73495901e-02 -1.82894367e-03 9.99847812e-01 -3.08650227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02241403699998 meters 0.09020915161837692 Centerline is valid? [True, True] Translation: X:159.70, Y:-11.85, Z:-3.09 [[ 9.99319382e-01 -3.21593731e-02 -1.80706283e-02 1.59704833e+02] [ 3.21883027e-02 9.99480961e-01 1.31227487e-03 -1.18542091e+01] [ 1.80190470e-02 -1.89304457e-03 9.99835852e-01 -3.08652375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08241403699998 meters 0.08640911502207035 Centerline is valid? [True, True] Translation: X:159.77, Y:-11.84, Z:-3.08 [[ 9.99438536e-01 -2.80996039e-02 -1.82489889e-02 1.59766378e+02] [ 2.81285125e-02 9.99603431e-01 1.32933186e-03 -1.18358727e+01] [ 1.82043982e-02 -1.84190240e-03 9.99832590e-01 -3.08402049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14241403699998 meters 0.08339282908145344 Centerline is valid? [True, True] Translation: X:159.83, Y:-11.82, Z:-3.08 [[ 9.99588866e-01 -2.02769914e-02 -2.02716973e-02 1.59828903e+02] [ 2.03110798e-02 9.99792618e-01 1.47708276e-03 -1.18171287e+01] [ 2.02375425e-02 -1.88821554e-03 9.99793417e-01 -3.08482877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20241403699998 meters 0.08204519691995096 Centerline is valid? [True, True] Translation: X:159.89, Y:-11.81, Z:-3.09 [[ 9.99708936e-01 -1.52242501e-02 -1.87154029e-02 1.59889843e+02] [ 1.52524201e-02 9.99882746e-01 1.36335162e-03 -1.18083204e+01] [ 1.86924524e-02 -1.64840999e-03 9.99823922e-01 -3.08521195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26241403699999 meters 0.08215195860920259 Centerline is valid? [True, True] Translation: X:159.95, Y:-11.80, Z:-3.09 [[ 9.99759278e-01 -1.03201312e-02 -1.93618202e-02 1.59949240e+02] [ 1.03493364e-02 9.99945452e-01 1.40879612e-03 -1.18015156e+01] [ 1.93462251e-02 -1.60883898e-03 9.99811550e-01 -3.08802922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322414037 meters 0.08011852398531391 Centerline is valid? [True, True] Translation: X:160.01, Y:-11.80, Z:-3.09 [[ 9.99778337e-01 -9.31667448e-03 -1.88805693e-02 1.60009306e+02] [ 9.34412175e-03 9.99955410e-01 1.36603164e-03 -1.17952621e+01] [ 1.88670006e-02 -1.54215118e-03 9.99820813e-01 -3.08551959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382414037 meters 0.08319196041532197 Centerline is valid? [True, True] Translation: X:160.07, Y:-11.80, Z:-3.09 [[ 9.99816468e-01 -9.32851953e-03 -1.67334720e-02 1.60066857e+02] [ 9.35007180e-03 9.99955555e-01 1.21019969e-03 -1.17995195e+01] [ 1.67214389e-02 -1.36643674e-03 9.99859253e-01 -3.08852842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442414037 meters 0.07980349197054956 Centerline is valid? [True, True] Translation: X:160.13, Y:-11.79, Z:-3.09 [[ 9.99791454e-01 -1.08603202e-02 -1.72945566e-02 1.60127276e+02] [ 1.08835875e-02 9.99939988e-01 1.25180005e-03 -1.17933547e+01] [ 1.72799238e-02 -1.43976581e-03 9.99849654e-01 -3.08555835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502414037 meters 0.08104366624975644 Centerline is valid? [True, True] Translation: X:160.19, Y:-11.79, Z:-3.09 [[ 9.99736600e-01 -1.27577507e-02 -1.90780069e-02 1.60187779e+02] [ 1.27864220e-02 9.99917296e-01 1.38161326e-03 -1.17948973e+01] [ 1.90588028e-02 -1.62518879e-03 9.99817044e-01 -3.08955238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562414037 meters 0.08020776068729861 Centerline is valid? [True, True] Translation: X:160.25, Y:-11.79, Z:-3.09 [[ 9.99688753e-01 -1.35920173e-02 -2.09201877e-02 1.60247917e+02] [ 1.36266459e-02 9.99906007e-01 1.51360170e-03 -1.17904549e+01] [ 2.08976484e-02 -1.79820258e-03 9.99780003e-01 -3.09228625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622414037 meters 0.08031060515018157 Centerline is valid? [True, True] Translation: X:160.31, Y:-11.79, Z:-3.09 [[ 9.99832909e-01 -1.17001205e-02 -1.40449439e-02 1.60307595e+02] [ 1.17155335e-02 9.99930855e-01 1.01562934e-03 -1.17907372e+01] [ 1.40320898e-02 -1.18000365e-03 9.99900849e-01 -3.09132319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682414037 meters 0.07974380872631347 Centerline is valid? [True, True] Translation: X:160.37, Y:-11.78, Z:-3.09 [[ 9.99969526e-01 -2.15898370e-03 -7.50238451e-03 1.60367750e+02] [ 2.16311567e-03 9.99997513e-01 5.42683796e-04 -1.17823159e+01] [ 7.50119421e-03 -5.58895783e-04 9.99971709e-01 -3.08769184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74241403699997 meters 0.07571848367136502 Centerline is valid? [True, True] Translation: X:160.43, Y:-11.77, Z:-3.09 [[ 9.99914912e-01 6.47549575e-03 -1.13241357e-02 1.60429211e+02] [-6.46663354e-03 9.99978756e-01 8.19036352e-04 -1.17699513e+01] [ 1.13291988e-02 -7.45737626e-04 9.99935544e-01 -3.09015408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80241403699998 meters 0.07397182988708934 Centerline is valid? [True, True] Translation: X:160.49, Y:-11.76, Z:-3.10 [[ 9.99758461e-01 1.53474155e-02 -1.57313632e-02 1.60489792e+02] [-1.53314090e-02 9.99881820e-01 1.13759370e-03 -1.17645950e+01] [ 1.57469632e-02 -8.96134966e-04 9.99875607e-01 -3.09674761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86241403699998 meters 0.07317198189512371 Centerline is valid? [True, True] Translation: X:160.55, Y:-11.76, Z:-3.10 [[ 9.99733509e-01 1.91655371e-02 -1.28683348e-02 1.60550914e+02] [-1.91551341e-02 9.99816090e-01 9.31196357e-04 -1.17639959e+01] [ 1.28838150e-02 -6.84453523e-04 9.99916766e-01 -3.09657269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92241403699998 meters 0.07294568261064376 Centerline is valid? [True, True] Translation: X:160.61, Y:-11.76, Z:-3.10 [[ 9.99699293e-01 2.14213884e-02 -1.19351645e-02 1.60611044e+02] [-2.14126093e-02 9.99770351e-01 8.62881447e-04 -1.17647764e+01] [ 1.19509077e-02 -6.07058959e-04 9.99928401e-01 -3.09798894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98241403699998 meters 0.07405801988209876 Centerline is valid? [True, True] Translation: X:160.67, Y:-11.77, Z:-3.10 [[ 9.99737588e-01 2.01346519e-02 -1.09247420e-02 1.60667907e+02] [-2.01272445e-02 9.99797116e-01 7.87573539e-04 -1.17748830e+01] [ 1.09383830e-02 -5.67481918e-04 9.99940013e-01 -3.10228673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042414037 meters 0.07341400572604469 Centerline is valid? [True, True] Translation: X:160.73, Y:-11.78, Z:-3.10 [[ 9.99794102e-01 1.84837040e-02 -8.37296839e-03 1.60727089e+02] [-1.84793010e-02 9.99829061e-01 6.02917830e-04 -1.17783282e+01] [ 8.38268129e-03 -4.48067087e-04 9.99964764e-01 -3.10036681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102414037 meters 0.07525589461285959 Centerline is valid? [True, True] Translation: X:160.78, Y:-11.79, Z:-3.11 [[ 9.99728385e-01 2.02877152e-02 -1.14702033e-02 1.60784410e+02] [-2.02795801e-02 9.99794008e-01 8.25112261e-04 -1.17889147e+01] [ 1.14845802e-02 -5.92277241e-04 9.99933875e-01 -3.10603067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162414037 meters 0.07359391905461259 Centerline is valid? [True, True] Translation: X:160.84, Y:-11.79, Z:-3.11 [[ 9.99635635e-01 2.32990178e-02 -1.36291226e-02 1.60843699e+02] [-2.32878833e-02 9.99728325e-01 9.75119806e-04 -1.17896735e+01] [ 1.36481393e-02 -6.57371089e-04 9.99906644e-01 -3.10595166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222414037 meters 0.07193450494779155 Centerline is valid? [True, True] Translation: X:160.90, Y:-11.79, Z:-3.11 [[ 9.99313785e-01 3.50017071e-02 -1.21177656e-02 1.60902920e+02] [-3.49937268e-02 9.99387153e-01 8.70030110e-04 -1.17889316e+01] [ 1.21407918e-02 -4.45387302e-04 9.99926199e-01 -3.10500193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282414037 meters 0.0697105506279412 Centerline is valid? [True, True] Translation: X:160.96, Y:-11.78, Z:-3.10 [[ 9.98681065e-01 4.96760794e-02 -1.29776098e-02 1.60963409e+02] [-4.96681701e-02 9.98765341e-01 9.31243742e-04 -1.17812094e+01] [ 1.30078475e-02 -2.85441358e-04 9.99915354e-01 -3.10194702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342414037 meters 0.06971668913156624 Centerline is valid? [True, True] Translation: X:161.02, Y:-11.79, Z:-3.11 [[ 9.98368984e-01 5.51411996e-02 -1.47925926e-02 1.61021867e+02] [-5.51316326e-02 9.98478539e-01 1.05406779e-03 -1.17878607e+01] [ 1.48282088e-02 -2.36808810e-04 9.99890028e-01 -3.10690083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402414037 meters 0.06967514769056073 Centerline is valid? [True, True] Translation: X:161.08, Y:-11.80, Z:-3.11 [[ 9.98251518e-01 5.71522013e-02 -1.50841626e-02 1.61079444e+02] [-5.71425374e-02 9.98365456e-01 1.07124386e-03 -1.17990868e+01] [ 1.51207308e-02 -2.07423482e-04 9.99885654e-01 -3.11028859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462414037 meters 0.0692292768398005 Centerline is valid? [True, True] Translation: X:161.14, Y:-11.81, Z:-3.11 [[ 9.98092089e-01 6.03491931e-02 -1.30444501e-02 1.61137370e+02] [-6.03422174e-02 9.98177317e-01 9.28038458e-04 -1.18125062e+01] [ 1.30766806e-02 -1.39136798e-04 9.99914487e-01 -3.10909736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52241403699998 meters 0.06890302828308238 Centerline is valid? [True, True] Translation: X:161.19, Y:-11.83, Z:-3.11 [[ 9.97874333e-01 6.40169226e-02 -1.21921634e-02 1.61194138e+02] [-6.40111200e-02 9.97948810e-01 8.65962290e-04 -1.18298690e+01] [ 1.22225912e-02 -8.36875082e-05 9.99925298e-01 -3.10970759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58241403699998 meters 0.06868411907507448 Centerline is valid? [True, True] Translation: X:161.25, Y:-11.84, Z:-3.11 [[ 9.97707924e-01 6.63876157e-02 -1.30989679e-02 1.61252384e+02] [-6.63812032e-02 9.97793907e-01 9.24195881e-04 -1.18440814e+01] [ 1.31314255e-02 -5.25523044e-05 9.99913778e-01 -3.10952256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64241403699998 meters 0.06832350910910998 Centerline is valid? [True, True] Translation: X:161.31, Y:-11.86, Z:-3.11 [[ 9.97337231e-01 7.19284828e-02 -1.20307987e-02 1.61308842e+02] [-7.19234578e-02 9.97409792e-01 8.50387343e-04 -1.18608566e+01] [ 1.20608035e-02 1.71736848e-05 9.99927266e-01 -3.11096047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70241403699998 meters 0.06805363421328353 Centerline is valid? [True, True] Translation: X:161.37, Y:-11.88, Z:-3.11 [[ 9.96727087e-01 8.01336482e-02 -1.06635806e-02 1.61366091e+02] [-8.01302415e-02 9.96784122e-01 7.47023737e-04 -1.18771779e+01] [ 1.06891496e-02 1.09896497e-04 9.99942863e-01 -3.11276113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76241403699999 meters 0.06760849176038479 Centerline is valid? [True, True] Translation: X:161.42, Y:-11.89, Z:-3.12 [[ 9.96407870e-01 8.43493368e-02 -7.51969706e-03 1.61423066e+02] [-8.43477521e-02 9.96436239e-01 5.28194577e-04 -1.18922288e+01] [ 7.53745152e-03 1.07972310e-04 9.99971587e-01 -3.11588520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822414037 meters 0.06722676290667949 Centerline is valid? [True, True] Translation: X:161.48, Y:-11.91, Z:-3.12 [[ 9.96217553e-01 8.67833517e-02 -4.38592321e-03 1.61479840e+02] [-8.67828405e-02 9.96227205e-01 3.07088411e-04 -1.19135945e+01] [ 4.39602619e-03 7.46960091e-05 9.99990335e-01 -3.11761110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882414037 meters 0.06726424419798434 Centerline is valid? [True, True] Translation: X:161.54, Y:-11.94, Z:-3.12 [[ 9.96222675e-01 8.68051362e-02 -2.29111112e-03 1.61537517e+02] [-8.68049981e-02 9.96225309e-01 1.59855783e-04 -1.19353169e+01] [ 2.29633919e-03 3.96279403e-05 9.99997363e-01 -3.11939361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942414037 meters 0.06715097294453237 Centerline is valid? [True, True] Translation: X:161.59, Y:-11.96, Z:-3.12 [[ 9.96407410e-01 8.45881444e-02 -4.13743545e-03 1.61594599e+02] [-8.45876718e-02 9.96415998e-01 2.89398296e-04 -1.19622386e+01] [ 4.14708654e-03 6.16174245e-05 9.99991399e-01 -3.12317056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002414037 meters 0.06721134647693282 Centerline is valid? [True, True] Translation: X:161.65, Y:-12.00, Z:-3.13 [[ 9.96620229e-01 8.19687589e-02 -5.40747882e-03 1.61649772e+02] [-8.19679149e-02 9.96634897e-01 3.77889169e-04 -1.19961560e+01] [ 5.42025720e-03 6.66277740e-05 9.99985308e-01 -3.12835025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062414037 meters 0.0672054985941874 Centerline is valid? [True, True] Translation: X:161.71, Y:-12.02, Z:-3.12 [[ 9.96558753e-01 8.27423590e-02 -4.93496373e-03 1.61706142e+02] [-8.27416710e-02 9.96570970e-01 3.43758057e-04 -1.20198472e+01] [ 4.94648494e-03 6.57520445e-05 9.99987764e-01 -3.12457549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122414037 meters 0.06843678179290942 Centerline is valid? [True, True] Translation: X:161.76, Y:-12.05, Z:-3.13 [[ 9.96060614e-01 8.85599471e-02 -4.51551996e-03 1.61763124e+02] [-8.85594296e-02 9.96070845e-01 3.14818645e-04 -1.20469033e+01] [ 4.52565811e-03 8.63134196e-05 9.99989755e-01 -3.13229471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182414037 meters 0.07042853592983896 Centerline is valid? [True, True] Translation: X:161.82, Y:-12.07, Z:-3.13 [[ 9.95533313e-01 9.43332832e-02 -3.82805000e-03 1.61820008e+02] [-9.43329575e-02 9.95540668e-01 2.65968746e-04 -1.20682046e+01] [ 3.83606916e-03 9.63305307e-05 9.99992638e-01 -3.13084473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24241403699997 meters 0.07162402595926741 Centerline is valid? [True, True] Translation: X:161.88, Y:-12.09, Z:-3.13 [[ 9.95316687e-01 9.65449721e-02 -4.87452898e-03 1.61876908e+02] [-9.65444713e-02 9.95328614e-01 3.38474637e-04 -1.20860017e+01] [ 4.88443620e-03 1.33719370e-04 9.99988062e-01 -3.13068106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30241403699998 meters 0.06928083897940848 Centerline is valid? [True, True] Translation: X:161.93, Y:-12.13, Z:-3.13 [[ 9.95689247e-01 9.21439323e-02 -1.06027729e-02 1.61932329e+02] [-9.21413057e-02 9.95745669e-01 7.36990785e-04 -1.21300240e+01] [ 1.06255744e-02 2.43139538e-04 9.99943517e-01 -3.12963068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36241403699998 meters 0.06772065379263345 Centerline is valid? [True, True] Translation: X:161.99, Y:-12.16, Z:-3.13 [[ 9.96383417e-01 8.45210085e-02 -8.73418941e-03 1.61989977e+02] [-8.45189290e-02 9.96421689e-01 6.07581510e-04 -1.21605895e+01] [ 8.75428916e-03 1.32820194e-04 9.99961672e-01 -3.12849702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42241403699998 meters 0.06596599134393659 Centerline is valid? [True, True] Translation: X:162.05, Y:-12.20, Z:-3.12 [[ 9.97298046e-01 7.30113362e-02 -8.12106323e-03 1.62047452e+02] [-7.30091554e-02 9.97331110e-01 5.65078753e-04 -1.22044515e+01] [ 8.14064616e-03 2.93600309e-05 9.99966864e-01 -3.11506641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48241403699998 meters 0.06610064819545511 Centerline is valid? [True, True] Translation: X:162.11, Y:-12.23, Z:-3.11 [[ 9.97645520e-01 6.78628466e-02 -9.90201672e-03 1.62106731e+02] [-6.78593359e-02 9.97694660e-01 6.90486735e-04 -1.22334199e+01] [ 9.92604759e-03 -1.69167195e-05 9.99950735e-01 -3.11475870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542414037 meters 0.06647152325529614 Centerline is valid? [True, True] Translation: X:162.17, Y:-12.25, Z:-3.12 [[ 9.97629602e-01 6.75676108e-02 -1.30305320e-02 1.62166290e+02] [-6.75615099e-02 9.97714697e-01 9.08337570e-04 -1.22534886e+01] [ 1.30621275e-02 -2.58220307e-05 9.99914686e-01 -3.11866703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602414037 meters 0.06644921276019558 Centerline is valid? [True, True] Translation: X:162.22, Y:-12.28, Z:-3.12 [[ 9.97635456e-01 6.76151925e-02 -1.23159278e-02 1.62224610e+02] [-6.76097563e-02 9.97711474e-01 8.57690856e-04 -1.22769782e+01] [ 1.23457354e-02 -2.29859336e-05 9.99923788e-01 -3.12073199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662414037 meters 0.06650635770047215 Centerline is valid? [True, True] Translation: X:162.28, Y:-12.29, Z:-3.12 [[ 9.97592746e-01 6.84789489e-02 -1.09245646e-02 1.62284818e+02] [-6.84747094e-02 9.97652561e-01 7.62076786e-04 -1.22924184e+01] [ 1.09511061e-02 -1.21858871e-05 9.99940035e-01 -3.12227813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722414037 meters 0.06641428520047488 Centerline is valid? [True, True] Translation: X:162.35, Y:-12.31, Z:-3.12 [[ 9.97345224e-01 7.22858897e-02 -8.78941438e-03 1.62346460e+02] [-7.22832412e-02 9.97383953e-01 6.19041956e-04 -1.23065566e+01] [ 8.81116885e-03 1.79288210e-05 9.99961181e-01 -3.12353754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782414037 meters 0.0661555484158997 Centerline is valid? [True, True] Translation: X:162.41, Y:-12.32, Z:-3.12 [[ 9.97048372e-01 7.66912498e-02 -3.60494606e-03 1.62407594e+02] [-7.66908354e-02 9.97054889e-01 2.53262028e-04 -1.23196084e+01] [ 3.61375207e-03 2.39518316e-05 9.99993470e-01 -3.12115283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842414037 meters 0.06623681069565979 Centerline is valid? [True, True] Translation: X:162.47, Y:-12.33, Z:-3.12 [[ 9.96795455e-01 7.99532035e-02 -2.51101324e-03 1.62470384e+02] [-7.99529994e-02 9.96798618e-01 1.81717383e-04 -1.23314645e+01] [ 2.51750341e-03 1.96279778e-05 9.99996831e-01 -3.12151965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902414037 meters 0.06679881481934245 Centerline is valid? [True, True] Translation: X:162.53, Y:-12.35, Z:-3.12 [[ 9.96706152e-01 8.05042448e-02 -9.79348701e-03 1.62530267e+02] [-8.05013632e-02 9.96754261e-01 6.88726797e-04 -1.23502716e+01] [ 9.81714534e-03 1.01930819e-04 9.99951805e-01 -3.12466074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96241403699997 meters 0.06737207875921236 Centerline is valid? [True, True] Translation: X:162.59, Y:-12.37, Z:-3.13 [[ 9.96980961e-01 7.62833478e-02 -1.44849506e-02 1.62590313e+02] [-7.62764974e-02 9.97086177e-01 1.02560921e-03 -1.23744926e+01] [ 1.45209809e-02 8.23484451e-05 9.99894562e-01 -3.12886223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02241403699998 meters 0.06727416893742205 Centerline is valid? [True, True] Translation: X:162.65, Y:-12.39, Z:-3.13 [[ 9.97280709e-01 7.29737774e-02 -1.02963981e-02 1.62651170e+02] [-7.29701546e-02 9.97333859e-01 7.27591504e-04 -1.23862890e+01] [ 1.03220415e-02 2.57167870e-05 9.99946726e-01 -3.12923593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08241403699998 meters 0.06739855662320733 Centerline is valid? [True, True] Translation: X:162.71, Y:-12.40, Z:-3.13 [[ 9.97374612e-01 7.20196417e-02 -7.55350378e-03 1.62712654e+02] [-7.20176218e-02 9.97403214e-01 5.39429366e-04 -1.24016151e+01] [ 7.57273846e-03 5.97222453e-06 9.99971326e-01 -3.12836164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14241403699998 meters 0.06758534565888483 Centerline is valid? [True, True] Translation: X:162.77, Y:-12.41, Z:-3.13 [[ 9.97188148e-01 7.41902036e-02 -1.05645980e-02 1.62773524e+02] [-7.41864023e-02 9.97244109e-01 7.51787581e-04 -1.24137509e+01] [ 1.05912584e-02 3.40758539e-05 9.99943910e-01 -3.12665891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20241403699998 meters 0.0676847620109439 Centerline is valid? [True, True] Translation: X:162.83, Y:-12.42, Z:-3.13 [[ 9.96709365e-01 8.01417760e-02 -1.21547709e-02 1.62833388e+02] [-8.01371717e-02 9.96783469e-01 8.66160272e-04 -1.24248669e+01] [ 1.21850903e-02 1.10738904e-04 9.99925753e-01 -3.12882639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26241403699999 meters 0.06798897273114704 Centerline is valid? [True, True] Translation: X:162.89, Y:-12.44, Z:-3.13 [[ 9.96339762e-01 8.46589558e-02 -1.18295872e-02 1.62894805e+02] [-8.46548501e-02 9.96409974e-01 8.48279219e-04 -1.24354355e+01] [ 1.18589331e-02 1.56257617e-04 9.99929668e-01 -3.13023757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322414037 meters 0.06884119374645883 Centerline is valid? [True, True] Translation: X:162.95, Y:-12.45, Z:-3.14 [[ 9.95441240e-01 9.45479683e-02 -1.25466729e-02 1.62953756e+02] [-9.45441704e-02 9.95520264e-01 8.96826167e-04 -1.24515463e+01] [ 1.25752602e-02 2.93477030e-04 9.99920885e-01 -3.13631763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382414037 meters 0.06925662079246413 Centerline is valid? [True, True] Translation: X:163.02, Y:-12.46, Z:-3.14 [[ 9.95113006e-01 9.81166952e-02 -1.11004028e-02 1.63015606e+02] [-9.81138766e-02 9.95174873e-01 7.99516428e-04 -1.24610890e+01] [ 1.11252878e-02 2.93494352e-04 9.99938069e-01 -3.13894359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442414037 meters 0.06927338414003532 Centerline is valid? [True, True] Translation: X:163.08, Y:-12.48, Z:-3.14 [[ 9.95204724e-01 9.72513916e-02 -1.04749338e-02 1.63075073e+02] [-9.72488365e-02 9.95259813e-01 7.54216139e-04 -1.24837415e+01] [ 1.04986292e-02 2.68075658e-04 9.99944852e-01 -3.13718864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502414037 meters 0.06902295574759769 Centerline is valid? [True, True] Translation: X:163.13, Y:-12.50, Z:-3.14 [[ 9.95633109e-01 9.26651006e-02 -1.13088872e-02 1.63134176e+02] [-9.26618241e-02 9.95697305e-01 8.14487768e-04 -1.25018272e+01] [ 1.13357031e-02 2.36971130e-04 9.99935721e-01 -3.13859322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562414037 meters 0.0687325104223132 Centerline is valid? [True, True] Translation: X:163.19, Y:-12.52, Z:-3.14 [[ 9.96079933e-01 8.77144114e-02 -1.14432724e-02 1.63194718e+02] [-8.77107395e-02 9.96145646e-01 8.23319631e-04 -1.25181580e+01] [ 1.14713830e-02 1.83605725e-04 9.99934185e-01 -3.14050257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622414037 meters 0.06829166732789274 Centerline is valid? [True, True] Translation: X:163.26, Y:-12.54, Z:-3.14 [[ 9.96665132e-01 8.06082642e-02 -1.26855064e-02 1.63255419e+02] [-8.06030867e-02 9.96745854e-01 9.19712738e-04 -1.25420810e+01] [ 1.27183624e-02 1.05845357e-04 9.99919113e-01 -3.13736728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682414037 meters 0.06863540137400981 Centerline is valid? [True, True] Translation: X:163.32, Y:-12.56, Z:-3.14 [[ 9.96861809e-01 7.76915300e-02 -1.51842282e-02 1.63316603e+02] [-7.76837315e-02 9.96977442e-01 1.10363077e-03 -1.25589290e+01] [ 1.52240758e-02 7.94001448e-05 9.99884104e-01 -3.13912613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74241403699997 meters 0.06861922471192974 Centerline is valid? [True, True] Translation: X:163.38, Y:-12.58, Z:-3.14 [[ 9.96938973e-01 7.64963836e-02 -1.61551187e-02 1.63377877e+02] [-7.64873366e-02 9.97069857e-01 1.17804779e-03 -1.25765534e+01] [ 1.61978983e-02 6.12202475e-05 9.99868804e-01 -3.13948452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80241403699998 meters 0.06836503082578448 Centerline is valid? [True, True] Translation: X:163.44, Y:-12.60, Z:-3.14 [[ 9.97284349e-01 7.29222927e-02 -1.03085433e-02 1.63437637e+02] [-7.29184432e-02 9.97337625e-01 7.49287830e-04 -1.25966162e+01] [ 1.03357379e-02 4.42990512e-06 9.99946585e-01 -3.13598319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86241403699998 meters 0.06870977737422097 Centerline is valid? [True, True] Translation: X:163.50, Y:-12.62, Z:-3.14 [[ 9.97671158e-01 6.69711392e-02 -1.29277820e-02 1.63496776e+02] [-6.69645405e-02 9.97754910e-01 9.43111031e-04 -1.26180281e+01] [ 1.29619192e-02 -7.52116917e-05 9.99915988e-01 -3.13924903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92241403699998 meters 0.06882080973831682 Centerline is valid? [True, True] Translation: X:163.56, Y:-12.63, Z:-3.14 [[ 9.97914243e-01 6.31253465e-02 -1.35038358e-02 1.63558273e+02] [-6.31177216e-02 9.98005597e-01 9.90515945e-04 -1.26295561e+01] [ 1.35394303e-02 -1.36118624e-04 9.99908328e-01 -3.14237421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98241403699998 meters 0.06992663609985628 Centerline is valid? [True, True] Translation: X:163.62, Y:-12.65, Z:-3.14 [[ 9.98460660e-01 5.22954338e-02 -1.84796827e-02 1.63617336e+02] [-5.22793987e-02 9.98631585e-01 1.35007570e-03 -1.26496242e+01] [ 1.85249976e-02 -3.81890770e-04 9.99828325e-01 -3.14290883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042414037 meters 0.07060609588246113 Centerline is valid? [True, True] Translation: X:163.68, Y:-12.67, Z:-3.14 [[ 9.98916927e-01 4.33693147e-02 -1.68545398e-02 1.63677355e+02] [-4.33547008e-02 9.99058984e-01 1.23165312e-03 -1.26652934e+01] [ 1.68920954e-02 -4.99595614e-04 9.99857194e-01 -3.13925389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102414037 meters 0.07075722924363527 Centerline is valid? [True, True] Translation: X:163.74, Y:-12.67, Z:-3.14 [[ 9.99281502e-01 3.56923537e-02 -1.27489171e-02 1.63738267e+02] [-3.56833576e-02 9.99362711e-01 9.32485313e-04 -1.26722852e+01] [ 1.27740750e-02 -4.76891155e-04 9.99918294e-01 -3.13878810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162414037 meters 0.07028140003297602 Centerline is valid? [True, True] Translation: X:163.80, Y:-12.67, Z:-3.14 [[ 9.99256404e-01 3.68023816e-02 -1.14989021e-02 1.63800745e+02] [-3.67950580e-02 9.99322473e-01 8.47883716e-04 -1.26724543e+01] [ 1.15223154e-02 -4.24150463e-04 9.99933526e-01 -3.13827186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222414037 meters 0.07052053533160471 Centerline is valid? [True, True] Translation: X:163.86, Y:-12.67, Z:-3.14 [[ 9.99062639e-01 4.08961646e-02 -1.41896581e-02 1.63862236e+02] [-4.08854396e-02 9.99163294e-01 1.04522481e-03 -1.26719215e+01] [ 1.42205312e-02 -4.64094650e-04 9.99898775e-01 -3.13988807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282414037 meters 0.07051853438481837 Centerline is valid? [True, True] Translation: X:163.92, Y:-12.67, Z:-3.14 [[ 9.98878441e-01 4.39932214e-02 -1.75058807e-02 1.63924548e+02] [-4.39772758e-02 9.99031692e-01 1.29497401e-03 -1.26707890e+01] [ 1.75458997e-02 -5.23660680e-04 9.99845922e-01 -3.14230235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342414037 meters 0.06951737314320659 Centerline is valid? [True, True] Translation: X:163.99, Y:-12.66, Z:-3.14 [[ 9.98689745e-01 4.80121713e-02 -1.77094353e-02 1.63986621e+02] [-4.79965407e-02 9.98846647e-01 1.30683490e-03 -1.26607507e+01] [ 1.77517540e-02 -4.55130981e-04 9.99842322e-01 -3.14301365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402414037 meters 0.0698710148953546 Centerline is valid? [True, True] Translation: X:164.05, Y:-12.66, Z:-3.15 [[ 9.98591049e-01 4.85131946e-02 -2.15031822e-02 1.64047515e+02] [-4.84902668e-02 9.98822395e-01 1.58668781e-03 -1.26589186e+01] [ 2.15548353e-02 -5.41757203e-04 9.99767521e-01 -3.14561492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46241403699997 meters 0.06997408091462926 Centerline is valid? [True, True] Translation: X:164.11, Y:-12.66, Z:-3.15 [[ 9.98762283e-01 4.50738249e-02 -2.10298089e-02 1.64109935e+02] [-4.50510821e-02 9.98983476e-01 1.55420940e-03 -1.26625174e+01] [ 2.10784858e-02 -6.04870081e-04 9.99777641e-01 -3.14584584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52241403699998 meters 0.0709635057842469 Centerline is valid? [True, True] Translation: X:164.17, Y:-12.67, Z:-3.15 [[ 9.99127416e-01 3.58197828e-02 -2.14790719e-02 1.64169782e+02] [-3.57939457e-02 9.99357932e-01 1.58627105e-03 -1.26661656e+01] [ 2.15221008e-02 -8.16066166e-04 9.99768040e-01 -3.14844839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58241403699998 meters 0.0711054299157969 Centerline is valid? [True, True] Translation: X:164.23, Y:-12.67, Z:-3.15 [[ 9.99285941e-01 3.10764278e-02 -2.14910054e-02 1.64231016e+02] [-3.10494358e-02 9.99516588e-01 1.58858827e-03 -1.26682984e+01] [ 2.15299840e-02 -9.20170336e-04 9.99767780e-01 -3.14754040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64241403699998 meters 0.07087409793831985 Centerline is valid? [True, True] Translation: X:164.29, Y:-12.66, Z:-3.15 [[ 9.99404087e-01 2.82860416e-02 -1.97831157e-02 1.64293401e+02] [-2.82625342e-02 9.99599458e-01 1.46689043e-03 -1.26608891e+01] [ 1.98166843e-02 -9.06895302e-04 9.99803219e-01 -3.14520283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70241403699998 meters 0.07087409793831985 Centerline is valid? [True, True] Translation: X:164.35, Y:-12.67, Z:-3.15 [[ 9.99403087e-01 2.83212841e-02 -1.97832002e-02 1.64354154e+02] [-2.82978061e-02 9.99598462e-01 1.46574796e-03 -1.26654157e+01] [ 1.98167684e-02 -9.05051869e-04 9.99803219e-01 -3.14632776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76241403699999 meters 0.07084118783628096 Centerline is valid? [True, True] Translation: X:164.42, Y:-12.66, Z:-3.15 [[ 9.99336347e-01 3.02361980e-02 -2.03135018e-02 1.64416025e+02] [-3.02118249e-02 9.99542384e-01 1.50573459e-03 -1.26580648e+01] [ 2.03497337e-02 -8.91027349e-04 9.99792526e-01 -3.14589361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822414037 meters 0.0703601600976379 Centerline is valid? [True, True] Translation: X:164.48, Y:-12.65, Z:-3.15 [[ 9.99200623e-01 3.34123640e-02 -2.19483365e-02 1.64477941e+02] [-3.33846577e-02 9.99441252e-01 1.62764805e-03 -1.26527570e+01] [ 2.19904565e-02 -8.93609243e-04 9.99757781e-01 -3.14799872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882414037 meters 0.07037621387900964 Centerline is valid? [True, True] Translation: X:164.54, Y:-12.65, Z:-3.15 [[ 9.99119856e-01 3.67817527e-02 -2.01647167e-02 1.64537828e+02] [-3.67590780e-02 9.99323040e-01 1.49410303e-03 -1.26467728e+01] [ 2.02060218e-02 -7.51551613e-04 9.99795555e-01 -3.15100919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942414037 meters 0.06976494673004209 Centerline is valid? [True, True] Translation: X:164.60, Y:-12.64, Z:-3.15 [[ 9.99102527e-01 3.75140344e-02 -1.96681800e-02 1.64600423e+02] [-3.74924114e-02 9.99295835e-01 1.46711008e-03 -1.26442425e+01] [ 1.97093676e-02 -7.28385895e-04 9.99805486e-01 -3.15050316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002414037 meters 0.07003469085141513 Centerline is valid? [True, True] Translation: X:164.66, Y:-12.65, Z:-3.15 [[ 9.99163128e-01 3.58452373e-02 -1.97018357e-02 1.64662505e+02] [-3.58231254e-02 9.99357058e-01 1.47421737e-03 -1.26450404e+01] [ 1.97420123e-02 -7.67202307e-04 9.99804813e-01 -3.15274329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062414037 meters 0.0709045700689256 Centerline is valid? [True, True] Translation: X:164.72, Y:-12.65, Z:-3.15 [[ 9.99128243e-01 3.29921184e-02 -2.55787725e-02 1.64723170e+02] [-3.29540116e-02 9.99455044e-01 1.90999734e-03 -1.26474951e+01] [ 2.56278480e-02 -1.06540912e-03 9.99670985e-01 -3.15423704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122414037 meters 0.07084789535860189 Centerline is valid? [True, True] Translation: X:164.78, Y:-12.65, Z:-3.16 [[ 9.99019885e-01 3.45387203e-02 -2.76829693e-02 1.64782929e+02] [-3.44947437e-02 9.99402746e-01 2.06470136e-03 -1.26477628e+01] [ 2.77377477e-02 -1.10776079e-03 9.99614621e-01 -3.15637491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182414037 meters 0.06975334648349964 Centerline is valid? [True, True] Translation: X:164.84, Y:-12.64, Z:-3.16 [[ 9.98556555e-01 4.52844964e-02 -2.88811571e-02 1.64844026e+02] [-4.52411000e-02 9.98973774e-01 2.15459768e-03 -1.26390147e+01] [ 2.89490884e-02 -8.44872316e-04 9.99580530e-01 -3.15915722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24241403699997 meters 0.06854956491423707 Centerline is valid? [True, True] Translation: X:164.91, Y:-12.63, Z:-3.16 [[ 9.97859355e-01 5.96695750e-02 -2.67628333e-02 1.64905305e+02] [-5.96374810e-02 9.98218105e-01 1.99648889e-03 -1.26285000e+01] [ 2.68342744e-02 -3.96147149e-04 9.99639818e-01 -3.16342072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30241403699998 meters 0.06789299727773353 Centerline is valid? [True, True] Translation: X:164.97, Y:-12.62, Z:-3.16 [[ 9.97334214e-01 6.87683791e-02 -2.44003068e-02 1.64966498e+02] [-6.87444037e-02 9.97632643e-01 1.82103816e-03 -1.26239311e+01] [ 2.44677724e-02 -1.38799125e-04 9.99700610e-01 -3.16281575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36241403699998 meters 0.06731773139546714 Centerline is valid? [True, True] Translation: X:165.03, Y:-12.62, Z:-3.16 [[ 9.96679004e-01 7.95510316e-02 -1.73952943e-02 1.65027825e+02] [-7.95404911e-02 9.96830791e-01 1.29807066e-03 -1.26190267e+01] [ 1.74434278e-02 8.98704802e-05 9.99847848e-01 -3.15898682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42241403699998 meters 0.06742434044418252 Centerline is valid? [True, True] Translation: X:165.09, Y:-12.62, Z:-3.16 [[ 9.96284579e-01 8.45459377e-02 -1.64019098e-02 1.65090643e+02] [-8.45370834e-02 9.96419570e-01 1.23365868e-03 -1.26219640e+01] [ 1.64474847e-02 1.57494494e-04 9.99864719e-01 -3.15746608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48241403699998 meters 0.06798884205820996 Centerline is valid? [True, True] Translation: X:165.15, Y:-12.63, Z:-3.16 [[ 9.95641276e-01 9.11117008e-02 -1.99275794e-02 1.65151435e+02] [-9.11000560e-02 9.95840625e-01 1.49326594e-03 -1.26259256e+01] [ 1.99807471e-02 3.28646397e-04 9.99800311e-01 -3.15874580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542414037 meters 0.06897306041078399 Centerline is valid? [True, True] Translation: X:165.21, Y:-12.63, Z:-3.17 [[ 9.94797186e-01 9.94776979e-02 -2.19714961e-02 1.65210581e+02] [-9.94655678e-02 9.95039642e-01 1.64695247e-03 -1.26295686e+01] [ 2.20263447e-02 5.47023658e-04 9.99757241e-01 -3.16588565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602414037 meters 0.06975711084987614 Centerline is valid? [True, True] Translation: X:165.27, Y:-12.64, Z:-3.17 [[ 9.94279232e-01 1.04312334e-01 -2.29726966e-02 1.65270832e+02] [-1.04300355e-01 9.94544353e-01 1.72230007e-03 -1.26387717e+01] [ 2.30270229e-02 6.83613227e-04 9.99734609e-01 -3.16913717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662414037 meters 0.07009480072053093 Centerline is valid? [True, True] Translation: X:165.33, Y:-12.66, Z:-3.17 [[ 9.93909115e-01 1.07822240e-01 -2.27823635e-02 1.65332179e+02] [-1.07811321e-01 9.94169901e-01 1.71058611e-03 -1.26555542e+01] [ 2.28339793e-02 7.56029586e-04 9.99738985e-01 -3.16997991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722414037 meters 0.07046792513257259 Centerline is valid? [True, True] Translation: X:165.39, Y:-12.67, Z:-3.17 [[ 9.93764584e-01 1.09038978e-01 -2.32906115e-02 1.65392940e+02] [-1.09027713e-01 9.94037158e-01 1.75675150e-03 -1.26689364e+01] [ 2.33432876e-02 7.93524669e-04 9.99727193e-01 -3.17200872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782414037 meters 0.07073220023436932 Centerline is valid? [True, True] Translation: X:165.45, Y:-12.69, Z:-3.17 [[ 9.93871343e-01 1.07574356e-01 -2.54462384e-02 1.65453660e+02] [-1.07560278e-01 9.94196701e-01 1.92530388e-03 -1.26859628e+01] [ 2.55056796e-02 8.23500131e-04 9.99674338e-01 -3.17425579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842414037 meters 0.07046823308715143 Centerline is valid? [True, True] Translation: X:165.51, Y:-12.71, Z:-3.17 [[ 9.94465559e-01 1.01755415e-01 -2.61550624e-02 1.65512818e+02] [-1.01738609e-01 9.94809203e-01 1.97593327e-03 -1.27120187e+01] [ 2.62203587e-02 6.95982076e-04 9.99655945e-01 -3.17480669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902414037 meters 0.07003954218780227 Centerline is valid? [True, True] Translation: X:165.57, Y:-12.73, Z:-3.17 [[ 9.94932451e-01 9.79324194e-02 -2.27740808e-02 1.65571946e+02] [-9.79186828e-02 9.95192932e-01 1.72022327e-03 -1.27308070e+01] [ 2.28330699e-02 5.18502044e-04 9.99739157e-01 -3.17412652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96241403699997 meters 0.06982846942911877 Centerline is valid? [True, True] Translation: X:165.63, Y:-12.75, Z:-3.17 [[ 9.95137653e-01 9.64450082e-02 -1.99852847e-02 1.65632735e+02] [-9.64340944e-02 9.95338225e-01 1.51135509e-03 -1.27478526e+01] [ 2.00378805e-02 4.23256475e-04 9.99799132e-01 -3.17386767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02241403699998 meters 0.06895966156003026 Centerline is valid? [True, True] Translation: X:165.69, Y:-12.77, Z:-3.17 [[ 9.94924867e-01 9.94856643e-02 -1.50702284e-02 1.65692773e+02] [-9.94797996e-02 9.95038929e-01 1.14015321e-03 -1.27653874e+01] [ 1.51088928e-02 3.64816514e-04 9.99885788e-01 -3.16908786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08241403699998 meters 0.06894286223983952 Centerline is valid? [True, True] Translation: X:165.75, Y:-12.78, Z:-3.17 [[ 9.94660083e-01 1.02327669e-01 -1.34301278e-02 1.65753944e+02] [-1.02323172e-01 9.94750683e-01 1.02332891e-03 -1.27766723e+01] [ 1.34643436e-02 3.56348862e-04 9.99909288e-01 -3.16915426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14241403699998 meters 0.06926517388483111 Centerline is valid? [True, True] Translation: X:165.81, Y:-12.79, Z:-3.17 [[ 9.94419612e-01 1.03998566e-01 -1.77181515e-02 1.65813518e+02] [-1.03991100e-01 9.94577319e-01 1.34472433e-03 -1.27920462e+01] [ 1.77619210e-02 5.05309814e-04 9.99842117e-01 -3.17101058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20241403699998 meters 0.06929085601521733 Centerline is valid? [True, True] Translation: X:165.87, Y:-12.81, Z:-3.17 [[ 9.94200802e-01 1.05529632e-01 -2.06944707e-02 1.65873377e+02] [-1.05519756e-01 9.94415965e-01 1.57166604e-03 -1.28126840e+01] [ 2.07447693e-02 6.21123855e-04 9.99784611e-01 -3.17461343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26241403699999 meters 0.06938670953426099 Centerline is valid? [True, True] Translation: X:165.93, Y:-12.82, Z:-3.18 [[ 9.94083452e-01 1.07029859e-01 -1.85121730e-02 1.65933450e+02] [-1.07022066e-01 9.94255640e-01 1.41398162e-03 -1.28237855e+01] [ 1.85571706e-02 5.75595272e-04 9.99827635e-01 -3.17952677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322414037 meters 0.06922680448876702 Centerline is valid? [True, True] Translation: X:165.99, Y:-12.85, Z:-3.18 [[ 9.93764351e-01 1.10467557e-01 -1.51437616e-02 1.65993393e+02] [-1.10462667e-01 9.93879595e-01 1.16155607e-03 -1.28495741e+01] [ 1.51793900e-02 5.18507287e-04 9.99884652e-01 -3.18067005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382414037 meters 0.0707046953491552 Centerline is valid? [True, True] Translation: X:166.05, Y:-12.86, Z:-3.19 [[ 9.93734899e-01 1.10750785e-01 -1.50071706e-02 1.66054886e+02] [-1.10745995e-01 9.93848075e-01 1.15241138e-03 -1.28617020e+01] [ 1.50424781e-02 5.16792637e-04 9.99886722e-01 -3.18862702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442414037 meters 0.07106590942036235 Centerline is valid? [True, True] Translation: X:166.11, Y:-12.88, Z:-3.19 [[ 9.93884459e-01 1.10032041e-01 -9.30758276e-03 1.66113304e+02] [-1.10030186e-01 9.93927990e-01 7.12725171e-04 -1.28805698e+01] [ 9.32948964e-03 3.15748591e-04 9.99956430e-01 -3.19179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502414037 meters 0.06986207459867132 Centerline is valid? [True, True] Translation: X:166.17, Y:-12.91, Z:-3.18 [[ 9.94095205e-01 1.08470830e-01 -2.96697523e-03 1.66172002e+02] [-1.08470634e-01 9.94099628e-01 2.27570610e-04 -1.29117540e+01] [ 2.97415375e-03 9.56028311e-05 9.99995573e-01 -3.18174921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562414037 meters 0.06980315958064723 Centerline is valid? [True, True] Translation: X:166.23, Y:-12.92, Z:-3.18 [[ 9.94193963e-01 1.07589284e-01 -1.70605202e-03 1.66233357e+02] [-1.07589209e-01 9.94195425e-01 1.35684353e-04 -1.29243801e+01] [ 1.71074730e-03 4.86562236e-05 9.99998535e-01 -3.17989130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622414037 meters 0.06993384915048349 Centerline is valid? [True, True] Translation: X:166.29, Y:-12.94, Z:-3.18 [[ 9.94532033e-01 1.04357079e-01 -3.95422038e-03 1.66293568e+02] [-1.04356682e-01 9.94539888e-01 3.06988517e-04 -1.29400643e+01] [ 3.96466631e-03 1.07339406e-04 9.99992135e-01 -3.18285198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682414037 meters 0.07054240939416367 Centerline is valid? [True, True] Translation: X:166.35, Y:-12.96, Z:-3.19 [[ 9.94791615e-01 1.01526266e-01 -9.05873471e-03 1.66353687e+02] [-1.01524067e-01 9.94832835e-01 7.03426884e-04 -1.29585255e+01] [ 9.08334304e-03 2.19916426e-04 9.99958721e-01 -3.19256806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74241403699997 meters 0.07050208341599391 Centerline is valid? [True, True] Translation: X:166.41, Y:-12.97, Z:-3.20 [[ 9.94956572e-01 9.98755818e-02 -9.28911581e-03 1.66414705e+02] [-9.98731740e-02 9.94999912e-01 7.23892464e-04 -1.29735487e+01] [ 9.31496859e-03 2.07491914e-04 9.99956593e-01 -3.19640247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80241403699998 meters 0.07067682382302455 Centerline is valid? [True, True] Translation: X:166.47, Y:-12.99, Z:-3.20 [[ 9.95556464e-01 9.38227354e-02 -8.03868514e-03 1.66473976e+02] [-9.38207589e-02 9.95588909e-01 6.23449517e-04 -1.29937262e+01] [ 8.06171951e-03 1.33516343e-04 9.99967495e-01 -3.20122687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86241403699998 meters 0.06993513108035466 Centerline is valid? [True, True] Translation: X:166.53, Y:-13.02, Z:-3.20 [[ 9.96312530e-01 8.57260560e-02 -3.51948294e-03 1.66533582e+02] [-8.57256258e-02 9.96318745e-01 2.73206344e-04 -1.30151487e+01] [ 3.52994773e-03 2.95109738e-05 9.99993769e-01 -3.20006223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92241403699998 meters 0.0696579346316673 Centerline is valid? [True, True] Translation: X:166.59, Y:-13.03, Z:-3.20 [[ 9.96798785e-01 7.99411039e-02 -1.26577731e-03 1.66594655e+02] [-7.99410379e-02 9.96799589e-01 1.02743809e-04 -1.30313751e+01] [ 1.26993975e-03 -1.22735242e-06 9.99999194e-01 -3.19984167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98241403699998 meters 0.06966168194916343 Centerline is valid? [True, True] Translation: X:166.66, Y:-13.05, Z:-3.20 [[ 9.97200675e-01 7.47654920e-02 -9.67379887e-04 1.66656594e+02] [-7.47654492e-02 9.97201144e-01 8.03936642e-05 -1.30486732e+01] [ 9.70683002e-04 -7.84202438e-06 9.99999529e-01 -3.20294387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042414037 meters 0.0695393855025895 Centerline is valid? [True, True] Translation: X:166.72, Y:-13.06, Z:-3.21 [[ 9.97146242e-01 7.54926811e-02 4.75989568e-04 1.66718002e+02] [-7.54926740e-02 9.97146356e-01 -3.29217955e-05 -1.30564109e+01] [-4.77116618e-04 -3.10588058e-06 9.99999886e-01 -3.20652511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102414037 meters 0.06938576637820462 Centerline is valid? [True, True] Translation: X:166.78, Y:-13.07, Z:-3.21 [[ 9.97149562e-01 7.53119759e-02 4.56689814e-03 1.66779917e+02] [-7.53111441e-02 9.97160020e-01 -3.54088676e-04 -1.30655079e+01] [-4.58059536e-03 9.14104493e-06 9.99989509e-01 -3.20529622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162414037 meters 0.06940740486106663 Centerline is valid? [True, True] Translation: X:166.84, Y:-13.08, Z:-3.21 [[ 9.97497585e-01 7.04904712e-02 5.44619636e-03 1.66841536e+02] [-7.04892046e-02 9.97512452e-01 -4.24394215e-04 -1.30765519e+01] [-5.46256444e-03 3.94341543e-05 9.99985079e-01 -3.20537018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222414037 meters 0.06950404325008706 Centerline is valid? [True, True] Translation: X:166.90, Y:-13.09, Z:-3.21 [[ 9.97956071e-01 6.37896640e-02 3.81559665e-03 1.66902529e+02] [-6.37889942e-02 9.97963364e-01 -2.97125807e-04 -1.30861599e+01] [-3.82677923e-03 5.31254301e-05 9.99992676e-01 -3.20759342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282414037 meters 0.06986452254613694 Centerline is valid? [True, True] Translation: X:166.96, Y:-13.09, Z:-3.21 [[ 9.98265270e-01 5.86855587e-02 4.73871104e-03 1.66963696e+02] [-5.86844515e-02 9.98276513e-01 -3.72463853e-04 -1.30943174e+01] [-4.75240218e-03 9.37290703e-05 9.99988703e-01 -3.20909298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342414037 meters 0.07046592657344748 Centerline is valid? [True, True] Translation: X:167.02, Y:-13.10, Z:-3.21 [[ 9.98627813e-01 5.23204624e-02 2.24968265e-03 1.67023844e+02] [-5.23201950e-02 9.98630345e-01 -1.77551548e-04 -1.31024036e+01] [-2.25589094e-03 5.96040788e-05 9.99997454e-01 -3.21333094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402414037 meters 0.07042345099116551 Centerline is valid? [True, True] Translation: X:167.09, Y:-13.11, Z:-3.21 [[ 9.98714781e-01 5.06802818e-02 5.42975356e-04 1.67085866e+02] [-5.06802667e-02 9.98714929e-01 -4.16933478e-05 -1.31053701e+01] [-5.44390625e-04 1.41216269e-05 9.99999852e-01 -3.21377166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46241403699997 meters 0.07052508644449085 Centerline is valid? [True, True] Translation: X:167.15, Y:-13.11, Z:-3.22 [[ 9.98760964e-01 4.97451152e-02 -1.40027934e-03 1.67147753e+02] [-4.97450054e-02 9.98761944e-01 1.13207662e-04 -1.31053574e+01] [ 1.40417724e-03 -4.34104904e-05 9.99999013e-01 -3.21743640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52241403699998 meters 0.07112024584751606 Centerline is valid? [True, True] Translation: X:167.21, Y:-13.11, Z:-3.22 [[ 9.98828771e-01 4.83443401e-02 -1.97769973e-03 1.67209488e+02] [-4.83441149e-02 9.98830727e-01 1.61527891e-04 -1.31082187e+01] [ 1.98319622e-03 -6.57285614e-05 9.99998031e-01 -3.22211651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58241403699998 meters 0.07168855358709124 Centerline is valid? [True, True] Translation: X:167.27, Y:-13.11, Z:-3.22 [[ 9.98987694e-01 4.49745432e-02 9.37212352e-04 1.67270208e+02] [-4.49744966e-02 9.98988133e-01 -7.07392024e-05 -1.31133439e+01] [-9.39445481e-04 2.85169388e-05 9.99999558e-01 -3.21941624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64241403699998 meters 0.07135136257907641 Centerline is valid? [True, True] Translation: X:167.33, Y:-13.11, Z:-3.22 [[ 9.99052143e-01 4.34808239e-02 2.05740728e-03 1.67332779e+02] [-4.34805861e-02 9.99054259e-01 -1.60184745e-04 -1.31115749e+01] [-2.06242648e-03 7.05756384e-05 9.99997871e-01 -3.21710367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70241403699998 meters 0.07074289750175701 Centerline is valid? [True, True] Translation: X:167.40, Y:-13.11, Z:-3.22 [[ 9.98997353e-01 4.47353380e-02 -1.74297953e-03 1.67395047e+02] [-4.47351545e-02 9.98998871e-01 1.44159306e-04 -1.31077405e+01] [ 1.74768360e-03 -6.60423071e-05 9.99998471e-01 -3.21905293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76241403699999 meters 0.07103885010003347 Centerline is valid? [True, True] Translation: X:167.46, Y:-13.10, Z:-3.22 [[ 9.98906888e-01 4.66190756e-02 -3.41930528e-03 1.67456992e+02] [-4.66183936e-02 9.98912733e-01 2.78930361e-04 -1.31033366e+01] [ 3.42859105e-03 -1.19222940e-04 9.99994115e-01 -3.22380859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822414037 meters 0.07111416880560441 Centerline is valid? [True, True] Translation: X:167.52, Y:-13.10, Z:-3.22 [[ 9.98989052e-01 4.49093779e-02 -2.00544931e-03 1.67519176e+02] [-4.49091351e-02 9.98991062e-01 1.65983732e-04 -1.31030001e+01] [ 2.01088016e-03 -7.57529375e-05 9.99997975e-01 -3.22352895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882414037 meters 0.07159585405709167 Centerline is valid? [True, True] Translation: X:167.58, Y:-13.10, Z:-3.22 [[ 9.99048575e-01 4.36109774e-02 1.67321415e-04 1.67580943e+02] [-4.36109764e-02 9.99048589e-01 -9.59568804e-06 -1.31004633e+01] [-1.67580701e-04 2.28950817e-06 9.99999986e-01 -3.22347644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942414037 meters 0.07033081864195215 Centerline is valid? [True, True] Translation: X:167.64, Y:-13.09, Z:-3.22 [[ 9.99002044e-01 4.46588902e-02 7.06428130e-04 1.67644390e+02] [-4.46588620e-02 9.99002294e-01 -5.56146182e-05 -1.30928435e+01] [-7.08207010e-04 2.40108409e-05 9.99999749e-01 -3.22140312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002414037 meters 0.07008872264014314 Centerline is valid? [True, True] Translation: X:167.71, Y:-13.09, Z:-3.22 [[ 9.98967464e-01 4.54299273e-02 3.55969511e-04 1.67707282e+02] [-4.54299214e-02 9.98967528e-01 -2.45404876e-05 -1.30900014e+01] [-3.56716855e-04 8.34348175e-06 9.99999936e-01 -3.22319806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062414037 meters 0.07013222755608675 Centerline is valid? [True, True] Translation: X:167.77, Y:-13.09, Z:-3.22 [[ 9.98942488e-01 4.59652981e-02 -1.04712729e-03 1.67769765e+02] [-4.59652294e-02 9.98943036e-01 8.95890502e-05 -1.30865715e+01] [ 1.05013850e-03 -4.13628624e-05 9.99999448e-01 -3.22435531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122414037 meters 0.07144989910523501 Centerline is valid? [True, True] Translation: X:167.83, Y:-13.09, Z:-3.23 [[ 9.99012752e-01 4.43772468e-02 -2.04464912e-03 1.67830319e+02] [-4.43769941e-02 9.99014842e-01 1.68819939e-04 -1.30891137e+01] [ 2.05012659e-03 -7.79178896e-05 9.99997895e-01 -3.22949827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182414037 meters 0.07175293395526783 Centerline is valid? [True, True] Translation: X:167.89, Y:-13.09, Z:-3.23 [[ 9.98977428e-01 4.47541990e-02 -6.41562648e-03 1.67892187e+02] [-4.47517294e-02 9.98998000e-01 5.28039486e-04 -1.30881747e+01] [ 6.43283001e-03 -2.40389147e-04 9.99979280e-01 -3.23421848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24241403699997 meters 0.06994297845682398 Centerline is valid? [True, True] Translation: X:167.96, Y:-13.08, Z:-3.23 [[ 9.98881045e-01 4.64139400e-02 -9.07771786e-03 1.67955130e+02] [-4.64090529e-02 9.98922239e-01 7.48379779e-04 -1.30759735e+01] [ 9.10266950e-03 -3.26254086e-04 9.99958517e-01 -3.23362586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30241403699998 meters 0.06886610144941711 Centerline is valid? [True, True] Translation: X:168.02, Y:-13.07, Z:-3.23 [[ 9.98696445e-01 5.07323331e-02 -5.62502111e-03 1.68017244e+02] [-5.07305381e-02 9.98712271e-01 4.61423482e-04 -1.30677019e+01] [ 5.64118669e-03 -1.75461643e-04 9.99984073e-01 -3.23033797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36241403699998 meters 0.06801674182090975 Centerline is valid? [True, True] Translation: X:168.08, Y:-13.06, Z:-3.23 [[ 9.98567112e-01 5.34994776e-02 -1.23667138e-03 1.68078456e+02] [-5.34993930e-02 9.98567877e-01 1.01376499e-04 -1.30634583e+01] [ 1.24032390e-03 -3.50700695e-05 9.99999230e-01 -3.22803591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42241403699998 meters 0.06785136858466756 Centerline is valid? [True, True] Translation: X:168.14, Y:-13.06, Z:-3.23 [[ 9.98423307e-01 5.61006336e-02 -1.90222650e-03 1.68141368e+02] [-5.61004287e-02 9.98425118e-01 1.60925428e-04 -1.30593839e+01] [ 1.90825874e-03 -5.39559758e-05 9.99998178e-01 -3.22795680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48241403699998 meters 0.0681637698930302 Centerline is valid? [True, True] Translation: X:168.20, Y:-13.06, Z:-3.23 [[ 9.98326207e-01 5.75351449e-02 -5.87302918e-03 1.68203614e+02] [-5.75332638e-02 9.98343470e-01 4.88891627e-04 -1.30564274e+01] [ 5.89142879e-03 -1.50178786e-04 9.99982634e-01 -3.23018171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542414037 meters 0.06889696433588192 Centerline is valid? [True, True] Translation: X:168.27, Y:-13.06, Z:-3.23 [[ 9.98416359e-01 5.56664830e-02 -8.12504718e-03 1.68265398e+02] [-5.56628228e-02 9.98449394e-01 6.76096548e-04 -1.30553776e+01] [ 8.15008436e-03 -2.22762792e-04 9.99966763e-01 -3.23165528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602414037 meters 0.06993825683051012 Centerline is valid? [True, True] Translation: X:168.33, Y:-13.06, Z:-3.23 [[ 9.98720635e-01 4.98988235e-02 -8.19763402e-03 1.68325488e+02] [-4.98949344e-02 9.98754242e-01 6.78373241e-04 -1.30603494e+01] [ 8.22127178e-03 -2.68484942e-04 9.99966169e-01 -3.23408387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662414037 meters 0.0707462250754786 Centerline is valid? [True, True] Translation: X:168.39, Y:-13.06, Z:-3.23 [[ 9.99141894e-01 4.02184849e-02 -9.89694084e-03 1.68386201e+02] [-4.02123423e-02 9.99190821e-01 8.18951424e-04 -1.30646663e+01] [ 9.92186943e-03 -4.20269504e-04 9.99950689e-01 -3.23318918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722414037 meters 0.07180050334414192 Centerline is valid? [True, True] Translation: X:168.45, Y:-13.07, Z:-3.23 [[ 9.99393369e-01 3.32944611e-02 -1.02163331e-02 1.68446637e+02] [-3.32875557e-02 9.99445458e-01 8.45267566e-04 -1.30701539e+01] [ 1.02388105e-02 -5.04678042e-04 9.99947455e-01 -3.23303652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782414037 meters 0.07462568332300677 Centerline is valid? [True, True] Translation: X:168.51, Y:-13.08, Z:-3.23 [[ 9.99658765e-01 2.22172416e-02 -1.37385447e-02 1.68505474e+02] [-2.22037001e-02 9.99752820e-01 1.13742223e-03 -1.30769246e+01] [ 1.37604192e-02 -8.31987574e-04 9.99904975e-01 -3.23415338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842414037 meters 0.07548676137752673 Centerline is valid? [True, True] Translation: X:168.57, Y:-13.08, Z:-3.23 [[ 9.99831578e-01 1.33257239e-02 -1.26190875e-02 1.68565960e+02] [-1.33135979e-02 9.99910825e-01 1.04445103e-03 -1.30791602e+01] [ 1.26318803e-02 -8.76269660e-04 9.99919831e-01 -3.23268728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902414037 meters 0.07474433638271112 Centerline is valid? [True, True] Translation: X:168.63, Y:-13.08, Z:-3.23 [[ 9.99849362e-01 1.02717213e-02 -1.39909021e-02 1.68627107e+02] [-1.02565174e-02 9.99946730e-01 1.15801668e-03 -1.30778952e+01] [ 1.40020517e-02 -1.01434431e-03 9.99901452e-01 -3.23267355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96241403699997 meters 0.07419482964459861 Centerline is valid? [True, True] Translation: X:168.69, Y:-13.07, Z:-3.24 [[ 9.99891603e-01 9.36473346e-03 -1.13615573e-02 1.68687064e+02] [-9.35467407e-03 9.99955804e-01 9.38210170e-04 -1.30699548e+01] [ 1.13698413e-02 -8.31824804e-04 9.99935015e-01 -3.23567960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02241403699998 meters 0.0751282798126303 Centerline is valid? [True, True] Translation: X:168.75, Y:-13.07, Z:-3.24 [[ 9.99847894e-01 1.46091689e-02 -9.52683290e-03 1.68747302e+02] [-1.46023204e-02 9.99893070e-01 7.88031777e-04 -1.30669133e+01] [ 9.53732669e-03 -6.48798047e-04 9.99954308e-01 -3.23677279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08241403699998 meters 0.07305212816085925 Centerline is valid? [True, True] Translation: X:168.81, Y:-13.05, Z:-3.24 [[ 9.99671617e-01 2.12217708e-02 -1.43629856e-02 1.68809549e+02] [-2.12068855e-02 9.99774403e-01 1.18788896e-03 -1.30534844e+01] [ 1.43849544e-02 -8.82904690e-04 9.99896141e-01 -3.23939397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14241403699998 meters 0.07368225714144859 Centerline is valid? [True, True] Translation: X:168.87, Y:-13.05, Z:-3.25 [[ 9.99546895e-01 2.48876757e-02 -1.69295123e-02 1.68870682e+02] [-2.48674983e-02 9.99689774e-01 1.40134750e-03 -1.30506648e+01] [ 1.69591366e-02 -9.79717925e-04 9.99855704e-01 -3.24564396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20241403699998 meters 0.07227877776541368 Centerline is valid? [True, True] Translation: X:168.93, Y:-13.04, Z:-3.25 [[ 9.99525524e-01 2.71888160e-02 -1.44739236e-02 1.68932028e+02] [-2.71743080e-02 9.99629992e-01 1.19811572e-03 -1.30442080e+01] [ 1.45011435e-02 -8.04228390e-04 9.99894529e-01 -3.24528542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26241403699999 meters 0.07174090609525768 Centerline is valid? [True, True] Translation: X:168.99, Y:-13.04, Z:-3.25 [[ 9.99484054e-01 2.96919344e-02 -1.22480768e-02 1.68993339e+02] [-2.96817365e-02 9.99558886e-01 1.01359223e-03 -1.30368422e+01] [ 1.22727695e-02 -6.49525083e-04 9.99924476e-01 -3.24521073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322414037 meters 0.07166345006540958 Centerline is valid? [True, True] Translation: X:169.06, Y:-13.03, Z:-3.25 [[ 9.99376020e-01 3.24514468e-02 -1.39453812e-02 1.69055636e+02] [-3.24383837e-02 9.99473062e-01 1.16196587e-03 -1.30341941e+01] [ 1.39757403e-02 -7.08875198e-04 9.99902083e-01 -3.24737797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382414037 meters 0.07177880291547199 Centerline is valid? [True, True] Translation: X:169.12, Y:-13.03, Z:-3.25 [[ 9.99251992e-01 3.48422879e-02 -1.67771213e-02 1.69118800e+02] [-3.48236633e-02 9.99392490e-01 1.40107155e-03 -1.30289074e+01] [ 1.68157456e-02 -8.15782711e-04 9.99858273e-01 -3.24990953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442414037 meters 0.07409651644123434 Centerline is valid? [True, True] Translation: X:169.18, Y:-13.03, Z:-3.26 [[ 9.99109817e-01 3.94395510e-02 -1.49698305e-02 1.69178306e+02] [-3.94253060e-02 9.99221744e-01 1.24561892e-03 -1.30313179e+01] [ 1.50073068e-02 -6.54319942e-04 9.99887170e-01 -3.25782291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502414037 meters 0.07060730092849564 Centerline is valid? [True, True] Translation: X:169.24, Y:-13.02, Z:-3.25 [[ 9.99008831e-01 4.27231517e-02 -1.24935345e-02 1.69240194e+02] [-4.27134765e-02 9.99086821e-01 1.04034685e-03 -1.30200049e+01] [ 1.25265725e-02 -5.05673397e-04 9.99921412e-01 -3.25164827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562414037 meters 0.06954464901407069 Centerline is valid? [True, True] Translation: X:169.30, Y:-13.01, Z:-3.25 [[ 9.98699444e-01 4.88218500e-02 -1.46917656e-02 1.69302659e+02] [-4.88091085e-02 9.98807374e-01 1.22478632e-03 -1.30134019e+01] [ 1.47340402e-02 -5.06101432e-04 9.99891320e-01 -3.25077086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622414037 meters 0.06977369075554175 Centerline is valid? [True, True] Translation: X:169.36, Y:-13.01, Z:-3.26 [[ 9.98161624e-01 5.65979582e-02 -2.16805092e-02 1.69363793e+02] [-5.65719557e-02 9.98396882e-01 1.81129879e-03 -1.30094873e+01] [ 2.17482686e-02 -5.81460135e-04 9.99763309e-01 -3.25934460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682414037 meters 0.06898756242679581 Centerline is valid? [True, True] Translation: X:169.42, Y:-13.00, Z:-3.26 [[ 9.97895599e-01 6.23124626e-02 -1.79312768e-02 1.69424609e+02] [-6.22956317e-02 9.98056619e-01 1.49621407e-03 -1.30034595e+01] [ 1.79896623e-02 -3.76025222e-04 9.99838102e-01 -3.26051687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74241403699997 meters 0.0687473420769384 Centerline is valid? [True, True] Translation: X:169.49, Y:-13.01, Z:-3.26 [[ 9.97774563e-01 6.49749693e-02 -1.49725006e-02 1.69486596e+02] [-6.49635093e-02 9.97886856e-01 1.25100900e-03 -1.30069748e+01] [ 1.50221458e-02 -2.75558775e-04 9.99887123e-01 -3.25885510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80241403699998 meters 0.0684373970156013 Centerline is valid? [True, True] Translation: X:169.55, Y:-13.01, Z:-3.26 [[ 9.97616007e-01 6.74762128e-02 -1.44659033e-02 1.69548666e+02] [-6.74656749e-02 9.97720855e-01 1.21579261e-03 -1.30104272e+01] [ 1.45149705e-02 -2.36942235e-04 9.99894624e-01 -3.25873589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86241403699998 meters 0.06848957110016239 Centerline is valid? [True, True] Translation: X:169.61, Y:-13.01, Z:-3.26 [[ 9.97435889e-01 6.94454529e-02 -1.72909139e-02 1.69611104e+02] [-6.94306288e-02 9.97585718e-01 1.45689452e-03 -1.30110255e+01] [ 1.73503435e-02 -2.52639862e-04 9.99849440e-01 -3.26234129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92241403699998 meters 0.06874057219703136 Centerline is valid? [True, True] Translation: X:169.67, Y:-13.02, Z:-3.26 [[ 9.97520041e-01 6.85723301e-02 -1.58620137e-02 1.69671775e+02] [-6.85596863e-02 9.97646116e-01 1.34016499e-03 -1.30181825e+01] [ 1.59165746e-02 -2.49346752e-04 9.99873292e-01 -3.26395705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98241403699998 meters 0.06910215304149533 Centerline is valid? [True, True] Translation: X:169.73, Y:-13.03, Z:-3.26 [[ 9.97889728e-01 6.30453095e-02 -1.55363814e-02 1.69733727e+02] [-6.30325374e-02 9.98010612e-01 1.31087620e-03 -1.30278696e+01] [ 1.55881181e-02 -3.28812356e-04 9.99878444e-01 -3.26177847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042414037 meters 0.07012334484088736 Centerline is valid? [True, True] Translation: X:169.79, Y:-13.04, Z:-3.26 [[ 9.98357519e-01 5.30720317e-02 -2.15783350e-02 1.69793846e+02] [-5.30450937e-02 9.98590461e-01 1.81925430e-03 -1.30388470e+01] [ 2.16444710e-02 -6.71641403e-04 9.99765505e-01 -3.26364075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102414037 meters 0.07131622351189512 Centerline is valid? [True, True] Translation: X:169.85, Y:-13.05, Z:-3.27 [[ 9.98830222e-01 4.36398982e-02 -2.08266040e-02 1.69853021e+02] [-4.36127516e-02 9.99046968e-01 1.75609860e-03 -1.30505285e+01] [ 2.08833915e-02 -8.45738847e-04 9.99781560e-01 -3.26682163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162414037 meters 0.07257785333564258 Centerline is valid? [True, True] Translation: X:169.91, Y:-13.06, Z:-3.26 [[ 9.99428240e-01 2.90412596e-02 -1.73146962e-02 1.69913186e+02] [-2.90203111e-02 9.99577756e-01 1.45995705e-03 -1.30623803e+01] [ 1.73497842e-02 -9.56644439e-04 9.99849024e-01 -3.26478257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222414037 meters 0.07495984818132782 Centerline is valid? [True, True] Translation: X:169.97, Y:-13.08, Z:-3.27 [[ 9.99638326e-01 2.05587072e-02 -1.73365634e-02 1.69972031e+02] [-2.05364217e-02 9.99788036e-01 1.46253363e-03 -1.30760701e+01] [ 1.73629565e-02 -1.10597370e-03 9.99848641e-01 -3.26514302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282414037 meters 0.07459215036751154 Centerline is valid? [True, True] Translation: X:170.03, Y:-13.08, Z:-3.27 [[ 9.99729986e-01 1.61698939e-02 -1.66880065e-02 1.70032545e+02] [-1.61486448e-02 9.99868612e-01 1.40729376e-03 -1.30768244e+01] [ 1.67085697e-02 -1.13742508e-03 9.99859755e-01 -3.26517712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342414037 meters 0.07508928723112732 Centerline is valid? [True, True] Translation: X:170.09, Y:-13.07, Z:-3.27 [[ 9.99779710e-01 1.42388868e-02 -1.54203108e-02 1.70092408e+02] [-1.42205325e-02 9.99898039e-01 1.29926807e-03 -1.30731151e+01] [ 1.54372386e-02 -1.07969682e-03 9.99880256e-01 -3.26735949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402414037 meters 0.07558067164609114 Centerline is valid? [True, True] Translation: X:170.15, Y:-13.07, Z:-3.27 [[ 9.99813789e-01 1.37955957e-02 -1.34932972e-02 1.70151198e+02] [-1.37815246e-02 9.99904386e-01 1.13525292e-03 -1.30724413e+01] [ 1.35076686e-02 -9.49083319e-04 9.99908317e-01 -3.26765225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46241403699997 meters 0.07808556554165114 Centerline is valid? [True, True] Translation: X:170.21, Y:-13.07, Z:-3.27 [[ 9.99794861e-01 1.34964019e-02 -1.51023889e-02 1.70209835e+02] [-1.34787447e-02 9.99908351e-01 1.27034628e-03 -1.30747106e+01] [ 1.51181499e-02 -1.06652444e-03 9.99885145e-01 -3.27276477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52241403699998 meters 0.07594906832674751 Centerline is valid? [True, True] Translation: X:170.27, Y:-13.06, Z:-3.28 [[ 9.99765489e-01 1.36513773e-02 -1.68109354e-02 1.70270208e+02] [-1.36295434e-02 9.99906116e-01 1.41268783e-03 -1.30578024e+01] [ 1.68286422e-02 -1.18323117e-03 9.99857688e-01 -3.27526022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58241403699998 meters 0.0770283948661046 Centerline is valid? [True, True] Translation: X:170.33, Y:-13.06, Z:-3.28 [[ 9.99768573e-01 1.48495114e-02 -1.55657740e-02 1.70329086e+02] [-1.48309455e-02 9.99889161e-01 1.30749788e-03 -1.30557691e+01] [ 1.55834644e-02 -1.07634015e-03 9.99877991e-01 -3.27820539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64241403699998 meters 0.07372840801619301 Centerline is valid? [True, True] Translation: X:170.39, Y:-13.04, Z:-3.28 [[ 9.99785237e-01 1.69207702e-02 -1.19652263e-02 1.70391461e+02] [-1.69099408e-02 9.99856511e-01 1.00566949e-03 -1.30361686e+01] [ 1.19805261e-02 -8.03122244e-04 9.99927908e-01 -3.27760926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70241403699998 meters 0.07513748892481564 Centerline is valid? [True, True] Translation: X:170.45, Y:-13.03, Z:-3.28 [[ 9.99727886e-01 2.03339336e-02 -1.14317369e-02 1.70451945e+02] [-2.03242774e-02 9.99792979e-01 9.60236698e-04 -1.30288540e+01] [ 1.14488957e-02 -7.27633612e-04 9.99934195e-01 -3.28203296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76241403699999 meters 0.07355497135039639 Centerline is valid? [True, True] Translation: X:170.51, Y:-13.01, Z:-3.28 [[ 9.99585014e-01 2.53461018e-02 -1.36885035e-02 1.70513765e+02] [-2.53327196e-02 9.99678414e-01 1.15016211e-03 -1.30147259e+01] [ 1.37132536e-02 -8.02917790e-04 9.99905647e-01 -3.28310005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822414037 meters 0.07147310637995409 Centerline is valid? [True, True] Translation: X:170.58, Y:-13.00, Z:-3.28 [[ 9.99439294e-01 3.04013517e-02 -1.40305405e-02 1.70575177e+02] [-3.03877901e-02 9.99537489e-01 1.17880545e-03 -1.30024251e+01] [ 1.40598885e-02 -7.51787366e-04 9.99900872e-01 -3.28335879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882414037 meters 0.07077329887390803 Centerline is valid? [True, True] Translation: X:170.64, Y:-12.99, Z:-3.29 [[ 9.99089214e-01 4.10242255e-02 -1.17369526e-02 1.70635469e+02] [-4.10154735e-02 9.99158025e-01 9.85515412e-04 -1.29921834e+01] [ 1.17675004e-02 -5.03221149e-04 9.99930634e-01 -3.28641997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942414037 meters 0.0704481216873605 Centerline is valid? [True, True] Translation: X:170.70, Y:-12.98, Z:-3.29 [[ 9.98653569e-01 4.93609814e-02 -1.59544118e-02 1.70697059e+02] [-4.93458491e-02 9.98780851e-01 1.34099267e-03 -1.29829388e+01] [ 1.60011537e-02 -5.51903118e-04 9.99871821e-01 -3.28976970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002414037 meters 0.06860700652639423 Centerline is valid? [True, True] Translation: X:170.76, Y:-12.97, Z:-3.29 [[ 9.98079606e-01 6.04072744e-02 -1.37135694e-02 1.70757867e+02] [-6.03971530e-02 9.98173762e-01 1.15139212e-03 -1.29722177e+01] [ 1.37580776e-02 -3.20920450e-04 9.99905302e-01 -3.29153711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062414037 meters 0.06833981542489714 Centerline is valid? [True, True] Translation: X:170.82, Y:-12.97, Z:-3.29 [[ 9.97765933e-01 6.57757847e-02 -1.16914490e-02 1.70818484e+02] [-6.57687914e-02 9.97834406e-01 9.82048402e-04 -1.29675771e+01] [ 1.17307251e-02 -2.10921968e-04 9.99931170e-01 -3.29364827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122414037 meters 0.06818555255263563 Centerline is valid? [True, True] Translation: X:170.88, Y:-12.97, Z:-3.29 [[ 9.97651659e-01 6.73599981e-02 -1.24015265e-02 1.70880183e+02] [-6.73522384e-02 9.97728715e-01 1.04277527e-03 -1.29686468e+01] [ 1.24436004e-02 -2.05055913e-04 9.99922554e-01 -3.29416074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182414037 meters 0.06824507176923796 Centerline is valid? [True, True] Translation: X:170.94, Y:-12.98, Z:-3.30 [[ 9.97718524e-01 6.65628773e-02 -1.12752434e-02 1.70941055e+02] [-6.65564072e-02 9.97782213e-01 9.48512684e-04 -1.29750984e+01] [ 1.13133731e-02 -1.95908981e-04 9.99935983e-01 -3.29517668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24241403699997 meters 0.06807626406323268 Centerline is valid? [True, True] Translation: X:171.00, Y:-12.98, Z:-3.29 [[ 9.97736986e-01 6.63500316e-02 -1.08894390e-02 1.71002673e+02] [-6.63439795e-02 9.97796390e-01 9.16477164e-04 -1.29794949e+01] [ 1.09262513e-02 -1.91954443e-04 9.99940288e-01 -3.29494967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30241403699998 meters 0.06839487291777917 Centerline is valid? [True, True] Translation: X:171.06, Y:-12.99, Z:-3.30 [[ 9.97919384e-01 6.29566811e-02 -1.39053709e-02 1.71063090e+02] [-6.29464864e-02 9.98016218e-01 1.17003683e-03 -1.29895327e+01] [ 1.39514474e-02 -2.92308194e-04 9.99902631e-01 -3.29774550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36241403699998 meters 0.06948843693219053 Centerline is valid? [True, True] Translation: X:171.12, Y:-13.00, Z:-3.30 [[ 9.98454161e-01 5.38471626e-02 -1.37757287e-02 1.71121293e+02] [-5.38362811e-02 9.98549102e-01 1.15979123e-03 -1.30049929e+01] [ 1.38181930e-02 -4.16364380e-04 9.99904438e-01 -3.29949376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42241403699998 meters 0.07022445432574508 Centerline is valid? [True, True] Translation: X:171.18, Y:-13.02, Z:-3.30 [[ 9.98892608e-01 4.45896119e-02 -1.50108331e-02 1.71181824e+02] [-4.45756424e-02 9.99005212e-01 1.26408528e-03 -1.30169606e+01] [ 1.50522656e-02 -5.93567908e-04 9.99886532e-01 -3.29951932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48241403699998 meters 0.07219714818368192 Centerline is valid? [True, True] Translation: X:171.24, Y:-13.03, Z:-3.30 [[ 9.99381096e-01 3.10341283e-02 -1.65622329e-02 1.71240762e+02] [-3.10152761e-02 9.99517939e-01 1.39397323e-03 -1.30331866e+01] [ 1.65975096e-02 -8.79428268e-04 9.99861865e-01 -3.30064848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542414037 meters 0.0730030238648472 Centerline is valid? [True, True] Translation: X:171.30, Y:-13.04, Z:-3.30 [[ 9.99585243e-01 2.53166569e-02 -1.37262117e-02 1.71300768e+02] [-2.53031701e-02 9.99679156e-01 1.15536414e-03 -1.30418473e+01] [ 1.37510577e-02 -8.07568276e-04 9.99905124e-01 -3.30057991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602414037 meters 0.0860212452181393 Centerline is valid? [True, True] Translation: X:171.36, Y:-13.07, Z:-3.31 [[ 9.99698397e-01 2.25713212e-02 -9.67729733e-03 1.71357162e+02] [-2.25645014e-02 9.99745058e-01 8.13344638e-04 -1.30725843e+01] [ 9.69318844e-03 -5.94735942e-04 9.99952843e-01 -3.31189533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662414037 meters 0.07171795111182547 Centerline is valid? [True, True] Translation: X:171.42, Y:-13.04, Z:-3.30 [[ 9.99632757e-01 2.56800703e-02 -8.65362951e-03 1.71419765e+02] [-2.56747378e-02 9.99670085e-01 7.26769722e-04 -1.30429036e+01] [ 8.66943805e-03 -5.04323152e-04 9.99962293e-01 -3.29725041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722414037 meters 0.07135640661167102 Centerline is valid? [True, True] Translation: X:171.48, Y:-13.04, Z:-3.30 [[ 9.99362750e-01 3.33872046e-02 -1.26249107e-02 1.71480826e+02] [-3.33764526e-02 9.99442287e-01 1.06144383e-03 -1.30394900e+01] [ 1.26533082e-02 -6.39392692e-04 9.99919739e-01 -3.30214089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782414037 meters 0.07079373609223653 Centerline is valid? [True, True] Translation: X:171.54, Y:-13.04, Z:-3.30 [[ 9.99118239e-01 4.04734653e-02 -1.11644082e-02 1.71541160e+02] [-4.04655075e-02 9.99180496e-01 9.37851377e-04 -1.30365919e+01] [ 1.11932170e-02 -4.85250972e-04 9.99937236e-01 -3.30452637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842414037 meters 0.0694686989524289 Centerline is valid? [True, True] Translation: X:171.60, Y:-13.03, Z:-3.31 [[ 9.98610662e-01 5.16473207e-02 -1.04546483e-02 1.71602871e+02] [-5.16409455e-02 9.98665329e-01 8.79011943e-04 -1.30289198e+01] [ 1.04860934e-02 -3.37902774e-04 9.99944962e-01 -3.30666435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902414037 meters 0.06887898952487295 Centerline is valid? [True, True] Translation: X:171.66, Y:-13.02, Z:-3.31 [[ 9.98202442e-01 5.87871758e-02 -1.16598635e-02 1.71663846e+02] [-5.87797348e-02 9.98270495e-01 9.80139288e-04 -1.30245963e+01] [ 1.16973173e-02 -2.93013747e-04 9.99931541e-01 -3.30940184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96241403699997 meters 0.06801989646725076 Centerline is valid? [True, True] Translation: X:171.72, Y:-13.02, Z:-3.31 [[ 9.97735361e-01 6.66029387e-02 -9.39140416e-03 1.71724513e+02] [-6.65984618e-02 9.97779546e-01 7.88980300e-04 -1.30190158e+01] [ 9.42309939e-03 -1.61740473e-04 9.99955589e-01 -3.30925757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02241403699998 meters 0.06780670605821239 Centerline is valid? [True, True] Translation: X:171.79, Y:-13.02, Z:-3.31 [[ 9.97396404e-01 7.14909429e-02 -9.45822894e-03 1.71785026e+02] [-7.14866188e-02 9.97441242e-01 7.94907647e-04 -1.30179712e+01] [ 9.49085631e-03 -1.16701223e-04 9.99954954e-01 -3.31131900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08241403699998 meters 0.0675584392978923 Centerline is valid? [True, True] Translation: X:171.85, Y:-13.02, Z:-3.31 [[ 9.96985157e-01 7.71339896e-02 -8.42288776e-03 1.71845564e+02] [-7.71307616e-02 9.97020734e-01 7.07893406e-04 -1.30168491e+01] [ 8.45239638e-03 -5.60954700e-05 9.99964276e-01 -3.31180005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14241403699998 meters 0.06748427327888923 Centerline is valid? [True, True] Translation: X:171.91, Y:-13.02, Z:-3.31 [[ 9.96705277e-01 8.06960538e-02 -8.16928655e-03 1.71906134e+02] [-8.06931329e-02 9.96738755e-01 6.87057138e-04 -1.30246133e+01] [ 8.19808731e-03 -2.55881498e-05 9.99966395e-01 -3.31210446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20241403699998 meters 0.06744217193767375 Centerline is valid? [True, True] Translation: X:171.97, Y:-13.03, Z:-3.31 [[ 9.96614426e-01 8.16594434e-02 -9.56147186e-03 1.71967171e+02] [-8.16554804e-02 9.96660291e-01 8.04773008e-04 -1.30322803e+01] [ 9.59525664e-03 -2.13018102e-05 9.99953964e-01 -3.31390302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26241403699999 meters 0.06774935888948778 Centerline is valid? [True, True] Translation: X:172.03, Y:-13.05, Z:-3.32 [[ 9.96632984e-01 8.12394873e-02 -1.10833503e-02 1.72027020e+02] [-8.12340688e-02 9.96694609e-01 9.38948444e-04 -1.30467282e+01] [ 1.11229952e-02 -3.54413489e-05 9.99938137e-01 -3.31821279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322414037 meters 0.06768236569435752 Centerline is valid? [True, True] Translation: X:172.09, Y:-13.06, Z:-3.32 [[ 9.96704022e-01 8.04598026e-02 -1.03592121e-02 1.72087592e+02] [-8.04550579e-02 9.96757854e-01 8.74623056e-04 -1.30567423e+01] [ 1.03959980e-02 -3.82893090e-05 9.99945959e-01 -3.31797472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382414037 meters 0.06751065834229535 Centerline is valid? [True, True] Translation: X:172.15, Y:-13.07, Z:-3.32 [[ 9.97047949e-01 7.63664217e-02 -7.97225771e-03 1.72147665e+02] [-7.63634369e-02 9.97079819e-01 6.78568502e-04 -1.30749963e+01] [ 8.00079712e-03 -6.77763345e-05 9.99967991e-01 -3.31802943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442414037 meters 0.06805343380660298 Centerline is valid? [True, True] Translation: X:172.21, Y:-13.09, Z:-3.32 [[ 9.97471432e-01 7.05548388e-02 -8.52980985e-03 1.72208578e+02] [-7.05512314e-02 9.97507895e-01 7.23452769e-04 -1.30920749e+01] [ 8.55959576e-03 -1.19834881e-04 9.99963359e-01 -3.31911191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502414037 meters 0.06786143659224107 Centerline is valid? [True, True] Translation: X:172.27, Y:-13.11, Z:-3.32 [[ 9.97833035e-01 6.54736024e-02 -6.51468249e-03 1.72269332e+02] [-6.54713559e-02 9.97854293e-01 5.57735318e-04 -1.31068190e+01] [ 6.53722083e-03 -1.30001629e-04 9.99978624e-01 -3.31685618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562414037 meters 0.06869230525134754 Centerline is valid? [True, True] Translation: X:172.33, Y:-13.13, Z:-3.32 [[ 9.98409202e-01 5.61549325e-02 -5.06843358e-03 1.72327824e+02] [-5.61534625e-02 9.98422056e-01 4.31981508e-04 -1.31260988e+01] [ 5.08469377e-03 -1.46684218e-04 9.99987062e-01 -3.31655400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622414037 meters 0.06988164058973349 Centerline is valid? [True, True] Translation: X:172.39, Y:-13.14, Z:-3.32 [[ 9.98723158e-01 5.00140190e-02 -7.11695261e-03 1.72386310e+02] [-5.00109800e-02 9.98748485e-01 6.04445877e-04 -1.31411478e+01] [ 7.13827641e-03 -2.47748321e-04 9.99974491e-01 -3.31967669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682414037 meters 0.0696893399880599 Centerline is valid? [True, True] Translation: X:172.45, Y:-13.15, Z:-3.32 [[ 9.98819414e-01 4.79485992e-02 -7.79170592e-03 1.72448085e+02] [-4.79448772e-02 9.98849762e-01 6.63883951e-04 -1.31496231e+01] [ 7.81457591e-03 -2.89527795e-04 9.99969424e-01 -3.32016505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74241403699997 meters 0.07092993700277918 Centerline is valid? [True, True] Translation: X:172.51, Y:-13.16, Z:-3.32 [[ 9.98982297e-01 4.47566772e-02 -5.58658252e-03 1.72507870e+02] [-4.47547145e-02 9.98997892e-01 4.75904180e-04 -1.31626101e+01] [ 5.60228405e-03 -2.25393946e-04 9.99984282e-01 -3.32266110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80241403699998 meters 0.06999059412670894 Centerline is valid? [True, True] Translation: X:172.57, Y:-13.17, Z:-3.32 [[ 9.99163602e-01 4.04138336e-02 -6.23043843e-03 1.72568955e+02] [-4.04113099e-02 9.99182989e-01 5.30479320e-04 -1.31661480e+01] [ 6.24678679e-03 -2.78255450e-04 9.99980450e-01 -3.32100064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86241403699998 meters 0.07051445801576062 Centerline is valid? [True, True] Translation: X:172.63, Y:-13.17, Z:-3.32 [[ 9.99257855e-01 3.80447919e-02 -6.02771765e-03 1.72630202e+02] [-3.80423543e-02 9.99275993e-01 5.18577873e-04 -1.31741634e+01] [ 6.04308272e-03 -2.88884442e-04 9.99981699e-01 -3.32285802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92241403699998 meters 0.07086265236632203 Centerline is valid? [True, True] Translation: X:172.69, Y:-13.18, Z:-3.32 [[ 9.99349302e-01 3.57573640e-02 -4.73106689e-03 1.72691771e+02] [-3.57558274e-02 9.99360472e-01 4.08996706e-04 -1.31796699e+01] [ 4.74266589e-03 -2.39567361e-04 9.99988725e-01 -3.32381683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98241403699998 meters 0.07123204440178693 Centerline is valid? [True, True] Translation: X:172.75, Y:-13.18, Z:-3.33 [[ 9.99345649e-01 3.58690444e-02 -4.65677757e-03 1.72754085e+02] [-3.58675461e-02 9.99356471e-01 4.04884833e-04 -1.31841881e+01] [ 4.66830363e-03 -2.37592711e-04 9.99989075e-01 -3.32580369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042414037 meters 0.07203592531288447 Centerline is valid? [True, True] Translation: X:172.81, Y:-13.19, Z:-3.33 [[ 9.99356585e-01 3.48810274e-02 -8.35043052e-03 1.72814904e+02] [-3.48762490e-02 9.99391381e-01 7.17219288e-04 -1.31874962e+01] [ 8.37036563e-03 -4.25526125e-04 9.99964877e-01 -3.32956986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102414037 meters 0.07335596559243485 Centerline is valid? [True, True] Translation: X:172.87, Y:-13.19, Z:-3.33 [[ 9.99420472e-01 3.25849055e-02 -9.84606127e-03 1.72874652e+02] [-3.25781339e-02 9.99468832e-01 8.47395639e-04 -1.31915656e+01] [ 9.86844367e-03 -5.26138247e-04 9.99951167e-01 -3.33298259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162414037 meters 0.07361780789169516 Centerline is valid? [True, True] Translation: X:172.94, Y:-13.19, Z:-3.33 [[ 9.99451555e-01 3.12921432e-02 -1.08347084e-02 1.72935570e+02] [-3.12838786e-02 9.99510106e-01 9.31478574e-04 -1.31929529e+01] [ 1.08585485e-02 -5.92016007e-04 9.99940869e-01 -3.33481147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222414037 meters 0.0714939977940889 Centerline is valid? [True, True] Translation: X:173.00, Y:-13.19, Z:-3.33 [[ 9.99426765e-01 3.12302130e-02 -1.30696457e-02 1.72996981e+02] [-3.12181864e-02 9.99511962e-01 1.12324552e-03 -1.31868986e+01] [ 1.30983464e-02 -7.14591005e-04 9.99913958e-01 -3.33268683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282414037 meters 0.07327481564857957 Centerline is valid? [True, True] Translation: X:173.06, Y:-13.19, Z:-3.34 [[ 9.99395057e-01 3.27577845e-02 -1.16810689e-02 1.73055614e+02] [-3.27482945e-02 9.99463128e-01 1.00282860e-03 -1.31928060e+01] [ 1.17076481e-02 -6.19686865e-04 9.99931271e-01 -3.33827612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342414037 meters 0.07085929295309103 Centerline is valid? [True, True] Translation: X:173.12, Y:-13.18, Z:-3.34 [[ 9.99197683e-01 3.87635483e-02 -1.00686524e-02 1.73116837e+02] [-3.87568032e-02 9.99248299e-01 8.64241301e-04 -1.31815570e+01] [ 1.00945848e-02 -4.73319126e-04 9.99948936e-01 -3.33715059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402414037 meters 0.07076355763010353 Centerline is valid? [True, True] Translation: X:173.18, Y:-13.18, Z:-3.34 [[ 9.99082636e-01 4.16944319e-02 -9.77037397e-03 1.73177998e+02] [-4.16882110e-02 9.99130316e-01 8.39596011e-04 -1.31825082e+01] [ 9.79688331e-03 -4.31516384e-04 9.99951916e-01 -3.33864626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46241403699997 meters 0.07082198608730646 Centerline is valid? [True, True] Translation: X:173.24, Y:-13.19, Z:-3.34 [[ 9.99051908e-01 4.31360379e-02 -5.87939512e-03 1.73238804e+02] [-4.31338088e-02 9.99069176e-01 5.05462255e-04 -1.31854529e+01] [ 5.89572608e-03 -2.51382326e-04 9.99982588e-01 -3.33877972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52241403699998 meters 0.07691269213371861 Centerline is valid? [True, True] Translation: X:173.30, Y:-13.20, Z:-3.35 [[ 9.99092432e-01 4.20005024e-02 -7.09016236e-03 1.73299573e+02] [-4.19972142e-02 9.99117540e-01 6.12075665e-04 -1.32028194e+01] [ 7.10961307e-03 -3.13753097e-04 9.99974677e-01 -3.35144409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58241403699998 meters 0.07776413728915672 Centerline is valid? [True, True] Translation: X:173.36, Y:-13.21, Z:-3.35 [[ 9.99073714e-01 4.25068517e-02 -6.69930356e-03 1.73360541e+02] [-4.25038909e-02 9.99096131e-01 5.83790853e-04 -1.32064917e+01] [ 6.71806337e-03 -2.98503629e-04 9.99977389e-01 -3.35435326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64241403699998 meters 0.07082017278977697 Centerline is valid? [True, True] Translation: X:173.42, Y:-13.19, Z:-3.34 [[ 9.99012192e-01 4.39790850e-02 -6.36239830e-03 1.73423567e+02] [-4.39764701e-02 9.99032415e-01 5.50376811e-04 -1.31894185e+01] [ 6.38044721e-03 -2.70037325e-04 9.99979608e-01 -3.34391038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70241403699998 meters 0.07076232328772913 Centerline is valid? [True, True] Translation: X:173.48, Y:-13.19, Z:-3.35 [[ 9.98826605e-01 4.73935600e-02 -9.96314823e-03 1.73484990e+02] [-4.73873204e-02 9.98876218e-01 8.61539981e-04 -1.31895500e+01] [ 9.99278328e-03 -3.88402156e-04 9.99949995e-01 -3.34686770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76241403699999 meters 0.07066022545814026 Centerline is valid? [True, True] Translation: X:173.55, Y:-13.19, Z:-3.35 [[ 9.98555236e-01 5.24515814e-02 -1.16735479e-02 1.73545313e+02] [-5.24433693e-02 9.98623390e-01 1.00869173e-03 -1.31886718e+01] [ 1.17103854e-02 -3.95034227e-04 9.99931353e-01 -3.35137192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822414037 meters 0.06957532483712715 Centerline is valid? [True, True] Translation: X:173.61, Y:-13.19, Z:-3.35 [[ 9.98212931e-01 5.87221448e-02 -1.10749333e-02 1.73605808e+02] [-5.87151441e-02 9.98274320e-01 9.56488415e-04 -1.31853700e+01] [ 1.11119886e-02 -3.04512799e-04 9.99938214e-01 -3.35057760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882414037 meters 0.0688276289245246 Centerline is valid? [True, True] Translation: X:173.67, Y:-13.18, Z:-3.35 [[ 9.97578608e-01 6.88421889e-02 -9.88299448e-03 1.73666106e+02] [-6.88371084e-02 9.97627548e-01 8.53712643e-04 -1.31838337e+01] [ 9.91831899e-03 -1.71328708e-04 9.99950798e-01 -3.35175087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942414037 meters 0.06843249869072147 Centerline is valid? [True, True] Translation: X:173.73, Y:-13.19, Z:-3.35 [[ 9.97282156e-01 7.32276362e-02 -8.12494770e-03 1.73726143e+02] [-7.32243476e-02 9.97315247e-01 7.01902498e-04 -1.31850281e+01] [ 8.15453289e-03 -1.05050842e-04 9.99966746e-01 -3.35274825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002414037 meters 0.06817881497619568 Centerline is valid? [True, True] Translation: X:173.79, Y:-13.19, Z:-3.35 [[ 9.96759685e-01 7.97953566e-02 -1.01406006e-02 1.73787506e+02] [-7.97905632e-02 9.96811264e-01 8.77033694e-04 -1.31883936e+01] [ 1.01782481e-02 -6.50675965e-05 9.99948198e-01 -3.35314784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062414037 meters 0.06880250425340576 Centerline is valid? [True, True] Translation: X:173.85, Y:-13.19, Z:-3.36 [[ 9.96579943e-01 8.14590923e-02 -1.38864449e-02 1.73848705e+02] [-8.14502615e-02 9.96676684e-01 1.20124834e-03 -1.31944579e+01] [ 1.39381484e-02 -6.60854359e-05 9.99902857e-01 -3.35686770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122414037 meters 0.06823176243380502 Centerline is valid? [True, True] Translation: X:173.91, Y:-13.20, Z:-3.36 [[ 9.96481355e-01 8.30769325e-02 -1.10964983e-02 1.73907515e+02] [-8.30714111e-02 9.96543136e-01 9.58374989e-04 -1.32009551e+01] [ 1.11377581e-02 -3.32010360e-05 9.99937973e-01 -3.35913129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182414037 meters 0.06804607588106072 Centerline is valid? [True, True] Translation: X:173.97, Y:-13.21, Z:-3.36 [[ 9.96390002e-01 8.44050519e-02 -9.09672781e-03 1.73968195e+02] [-8.44013875e-02 9.96431526e-01 7.86657494e-04 -1.32085653e+01] [ 9.13066425e-03 -1.60412130e-05 9.99958314e-01 -3.35759638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24241403699997 meters 0.06810614995030688 Centerline is valid? [True, True] Translation: X:174.03, Y:-13.22, Z:-3.36 [[ 9.96326741e-01 8.50730558e-02 -9.77750929e-03 1.74028613e+02] [-8.50688484e-02 9.96374716e-01 8.46160397e-04 -1.32167888e+01] [ 9.81404850e-03 -1.12907754e-05 9.99951841e-01 -3.35938122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30241403699998 meters 0.06825779702288859 Centerline is valid? [True, True] Translation: X:174.09, Y:-13.23, Z:-3.36 [[ 9.96643904e-01 8.11840928e-02 -1.04915530e-02 1.74090391e+02] [-8.11789628e-02 9.96699122e-01 9.14612004e-04 -1.32281107e+01] [ 1.05311736e-02 -5.98490862e-05 9.99944544e-01 -3.35936597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36241403699998 meters 0.06832925419211308 Centerline is valid? [True, True] Translation: X:174.15, Y:-13.24, Z:-3.36 [[ 9.97130670e-01 7.52345147e-02 -8.37828819e-03 1.74152132e+02] [-7.52310441e-02 9.97165863e-01 7.29077286e-04 -1.32417898e+01] [ 8.40939475e-03 -9.66779540e-05 9.99964636e-01 -3.35847816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42241403699998 meters 0.06913770309327928 Centerline is valid? [True, True] Translation: X:174.21, Y:-13.26, Z:-3.36 [[ 9.97928475e-01 6.37668237e-02 -8.51764136e-03 1.74210445e+02] [-6.37628332e-02 9.97964806e-01 7.39512373e-04 -1.32625331e+01] [ 8.54746266e-03 -1.94871510e-04 9.99963451e-01 -3.35965621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48241403699998 meters 0.0699606993253744 Centerline is valid? [True, True] Translation: X:174.27, Y:-13.27, Z:-3.36 [[ 9.98323768e-01 5.67897490e-02 -1.11615126e-02 1.74269934e+02] [-5.67824588e-02 9.98386104e-01 9.69230359e-04 -1.32739167e+01] [ 1.11985414e-02 -3.33827573e-04 9.99937239e-01 -3.36238567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542414037 meters 0.07114052382316341 Centerline is valid? [True, True] Translation: X:174.33, Y:-13.29, Z:-3.36 [[ 9.98765164e-01 4.81159709e-02 -1.23693711e-02 1.74329396e+02] [-4.81063532e-02 9.98841642e-01 1.07408197e-03 -1.32883846e+01] [ 1.24067234e-02 -4.77710319e-04 9.99922920e-01 -3.36449855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602414037 meters 0.07099307681818612 Centerline is valid? [True, True] Translation: X:174.39, Y:-13.30, Z:-3.36 [[ 9.99046898e-01 4.25034712e-02 -9.93734701e-03 1.74389905e+02] [-4.24969819e-02 9.99096222e-01 8.63364056e-04 -1.32983707e+01] [ 9.96506183e-03 -4.40233925e-04 9.99950251e-01 -3.36246495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662414037 meters 0.07351157899944058 Centerline is valid? [True, True] Translation: X:174.45, Y:-13.31, Z:-3.37 [[ 9.99353753e-01 3.47853243e-02 -9.05858898e-03 1.74448152e+02] [-3.47796206e-02 9.99394697e-01 7.86460949e-04 -1.33149761e+01] [ 9.08046309e-03 -4.70898413e-04 9.99958661e-01 -3.36564952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722414037 meters 0.07258179674480689 Centerline is valid? [True, True] Translation: X:174.51, Y:-13.32, Z:-3.36 [[ 9.99460568e-01 3.14044822e-02 -9.60893573e-03 1.74509288e+02] [-3.13979022e-02 9.99506616e-01 8.34912460e-04 -1.33175797e+01] [ 9.63041483e-03 -5.32761658e-04 9.99953485e-01 -3.36430057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782414037 meters 0.07311421840428994 Centerline is valid? [True, True] Translation: X:174.57, Y:-13.32, Z:-3.37 [[ 9.99510841e-01 2.94463187e-02 -1.05352798e-02 1.74569934e+02] [-2.94382987e-02 9.99566180e-01 9.15554598e-04 -1.33234176e+01] [ 1.05576691e-02 -6.04966034e-04 9.99944083e-01 -3.36632802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842414037 meters 0.08424654682069647 Centerline is valid? [True, True] Translation: X:174.63, Y:-13.35, Z:-3.38 [[ 9.99524039e-01 2.79136315e-02 -1.31348309e-02 1.74627829e+02] [-2.79010384e-02 9.99610039e-01 1.14106561e-03 -1.33513818e+01] [ 1.31615601e-02 -7.74047091e-04 9.99913083e-01 -3.38052854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902414037 meters 0.0835595249616265 Centerline is valid? [True, True] Translation: X:174.69, Y:-13.35, Z:-3.38 [[ 9.99565767e-01 2.72965603e-02 -1.10984123e-02 1.74688129e+02] [-2.72875467e-02 9.99627162e-01 9.62801838e-04 -1.33471339e+01] [ 1.11205556e-02 -6.59535314e-04 9.99937947e-01 -3.38050675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96241403699997 meters 0.08533649925460558 Centerline is valid? [True, True] Translation: X:174.75, Y:-13.35, Z:-3.38 [[ 9.99618819e-01 2.55507826e-02 -1.04581694e-02 1.74747500e+02] [-2.55426822e-02 9.99673321e-01 9.07407197e-04 -1.33498629e+01] [ 1.04779379e-02 -6.39931614e-04 9.99944900e-01 -3.38177771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02241403699998 meters 0.08703996716029598 Centerline is valid? [True, True] Translation: X:174.81, Y:-13.35, Z:-3.38 [[ 9.99694078e-01 2.19649333e-02 -1.13706356e-02 1.74807727e+02] [-2.19551291e-02 9.99758471e-01 9.86363180e-04 -1.33516773e+01] [ 1.13895546e-02 -7.36417659e-04 9.99934866e-01 -3.38377430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08241403699998 meters 0.0867811734336244 Centerline is valid? [True, True] Translation: X:174.87, Y:-13.35, Z:-3.39 [[ 9.99717032e-01 2.04011779e-02 -1.22330740e-02 1.74867351e+02] [-2.03897336e-02 9.99791546e-01 1.05952638e-03 -1.33495352e+01] [ 1.22521396e-02 -8.09797448e-04 9.99924612e-01 -3.38604517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14241403699998 meters 0.0923788505391822 Centerline is valid? [True, True] Translation: X:174.93, Y:-13.35, Z:-3.39 [[ 9.99645098e-01 2.37739769e-02 -1.20197946e-02 1.74926326e+02] [-2.37631723e-02 9.99717074e-01 1.04094010e-03 -1.33523713e+01] [ 1.20411411e-02 -7.54942219e-04 9.99927218e-01 -3.39364074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20241403699998 meters 0.08441590616896281 Centerline is valid? [True, True] Translation: X:174.99, Y:-13.34, Z:-3.39 [[ 9.99536217e-01 2.84557109e-02 -1.08454336e-02 1.74988172e+02] [-2.84471826e-02 9.99594855e-01 9.39840104e-04 -1.33378022e+01] [ 1.08677835e-02 -6.30882191e-04 9.99940745e-01 -3.38698006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26241403699999 meters 0.081337524108457 Centerline is valid? [True, True] Translation: X:175.05, Y:-13.33, Z:-3.39 [[ 9.99251729e-01 3.68301241e-02 -1.18119928e-02 1.75048921e+02] [-3.68206012e-02 9.99321368e-01 1.02273935e-03 -1.33271173e+01] [ 1.18416444e-02 -5.87049387e-04 9.99929713e-01 -3.38909002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322414037 meters 0.07677062161355705 Centerline is valid? [True, True] Translation: X:175.11, Y:-13.31, Z:-3.39 [[ 9.98934770e-01 4.47906958e-02 -1.10958661e-02 1.75111328e+02] [-4.47827778e-02 9.98996286e-01 9.61161980e-04 -1.33104283e+01] [ 1.11277802e-02 -4.63234414e-04 9.99937977e-01 -3.39004740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382414037 meters 0.07593435211241313 Centerline is valid? [True, True] Translation: X:175.17, Y:-13.31, Z:-3.39 [[ 9.98742213e-01 4.91009893e-02 -1.01530794e-02 1.75170234e+02] [-4.90946006e-02 9.98793747e-01 8.77666796e-04 -1.33089770e+01] [ 1.01839266e-02 -3.78101497e-04 9.99948071e-01 -3.39149408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442414037 meters 0.07448176860881167 Centerline is valid? [True, True] Translation: X:175.23, Y:-13.30, Z:-3.39 [[ 9.98457907e-01 5.40742126e-02 -1.25613350e-02 1.75230584e+02] [-5.40648247e-02 9.98536837e-01 1.08598474e-03 -1.33026681e+01] [ 1.26016795e-02 -4.05183681e-04 9.99920514e-01 -3.39428083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502414037 meters 0.07295508161809505 Centerline is valid? [True, True] Translation: X:175.29, Y:-13.29, Z:-3.40 [[ 9.98060288e-01 6.09679196e-02 -1.25926209e-02 1.75290483e+02] [-6.09590397e-02 9.98139675e-01 1.08816000e-03 -1.32925689e+01] [ 1.26355374e-02 -3.18415207e-04 9.99920118e-01 -3.39678938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562414037 meters 0.0715348712568661 Centerline is valid? [True, True] Translation: X:175.35, Y:-13.29, Z:-3.39 [[ 9.97740815e-01 6.62642316e-02 -1.10597046e-02 1.75350882e+02] [-6.62577136e-02 9.97802086e-01 9.55120107e-04 -1.32891120e+01] [ 1.10986866e-02 -2.20171578e-04 9.99938383e-01 -3.39475442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622414037 meters 0.06998596771159897 Centerline is valid? [True, True] Translation: X:175.41, Y:-13.28, Z:-3.39 [[ 9.97170777e-01 7.42845213e-02 -1.15000880e-02 1.75410929e+02] [-7.42780281e-02 9.97237079e-01 9.91299603e-04 -1.32809438e+01] [ 1.15419524e-02 -1.34291138e-04 9.99933380e-01 -3.39424162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682414037 meters 0.06958795387942283 Centerline is valid? [True, True] Translation: X:175.47, Y:-13.28, Z:-3.40 [[ 9.96665273e-01 8.07327331e-02 -1.18558155e-02 1.75469305e+02] [-8.07263073e-02 9.96735784e-01 1.02034133e-03 -1.32757101e+01] [ 1.18994905e-02 -5.98625651e-05 9.99929197e-01 -3.39877648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74241403699997 meters 0.06984828070768559 Centerline is valid? [True, True] Translation: X:175.53, Y:-13.27, Z:-3.40 [[ 9.95922128e-01 8.90920414e-02 -1.42028973e-02 1.75528189e+02] [-8.90836743e-02 9.96023396e-01 1.22194355e-03 -1.32727827e+01] [ 1.42552835e-02 4.82856567e-05 9.99898387e-01 -3.40248197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80241403699998 meters 0.06914253285847324 Centerline is valid? [True, True] Translation: X:175.59, Y:-13.29, Z:-3.39 [[ 9.95645354e-01 9.13581888e-02 -1.85475275e-02 1.75586836e+02] [-9.13443334e-02 9.95818091e-01 1.59461018e-03 -1.32854659e+01] [ 1.86156441e-02 1.06545318e-04 9.99826708e-01 -3.39178474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86241403699998 meters 0.06890987915426779 Centerline is valid? [True, True] Translation: X:175.65, Y:-13.30, Z:-3.39 [[ 9.95794564e-01 9.00303211e-02 -1.69625204e-02 1.75645495e+02] [-9.00185470e-02 9.95939022e-01 1.45792951e-03 -1.32957036e+01] [ 1.70248939e-02 7.51431622e-05 9.99855063e-01 -3.39254977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92241403699998 meters 0.06852629839174548 Centerline is valid? [True, True] Translation: X:175.70, Y:-13.31, Z:-3.39 [[ 9.96110361e-01 8.71207647e-02 -1.31954885e-02 1.75704253e+02] [-8.71133816e-02 9.96197757e-01 1.13435666e-03 -1.33134023e+01] [ 1.32441421e-02 1.95592085e-05 9.99912292e-01 -3.39040766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98241403699998 meters 0.06855873769224104 Centerline is valid? [True, True] Translation: X:175.76, Y:-13.33, Z:-3.39 [[ 9.96207337e-01 8.58911669e-02 -1.39158187e-02 1.75762220e+02] [-8.58828621e-02 9.96304525e-01 1.19439166e-03 -1.33296885e+01] [ 1.39669808e-02 5.26860055e-06 9.99902457e-01 -3.39309870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042414037 meters 0.06845925768382445 Centerline is valid? [True, True] Translation: X:175.82, Y:-13.34, Z:-3.39 [[ 9.96170114e-01 8.65123063e-02 -1.26777469e-02 1.75820930e+02] [-8.65054632e-02 9.96250782e-01 1.08817569e-03 -1.33410549e+01] [ 1.27243559e-02 1.26862727e-05 9.99919042e-01 -3.39193326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102414037 meters 0.06821117389437877 Centerline is valid? [True, True] Translation: X:175.88, Y:-13.35, Z:-3.39 [[ 9.96160427e-01 8.68823163e-02 -1.07641049e-02 1.75880030e+02] [-8.68774100e-02 9.96218582e-01 9.23449249e-04 -1.33530550e+01] [ 1.08036328e-02 1.52539596e-05 9.99941639e-01 -3.39176424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162414037 meters 0.06830720369889612 Centerline is valid? [True, True] Translation: X:175.94, Y:-13.36, Z:-3.39 [[ 9.96186606e-01 8.62396664e-02 -1.32274612e-02 1.75939505e+02] [-8.62321902e-02 9.96274420e-01 1.13557618e-03 -1.33648870e+01] [ 1.32761129e-02 9.38716366e-06 9.99911868e-01 -3.39357612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222414037 meters 0.06883090403690077 Centerline is valid? [True, True] Translation: X:176.00, Y:-13.38, Z:-3.40 [[ 9.96462085e-01 8.19935718e-02 -1.84490531e-02 1.75998722e+02] [-8.19782994e-02 9.96632856e-01 1.58384931e-03 -1.33822307e+01] [ 1.85167980e-02 -6.58237914e-05 9.99828547e-01 -3.39556982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282414037 meters 0.06956613230613615 Centerline is valid? [True, True] Translation: X:176.06, Y:-13.40, Z:-3.40 [[ 9.96780222e-01 7.79759664e-02 -1.86798906e-02 1.76056796e+02] [-7.79596281e-02 9.96955229e-01 1.60237087e-03 -1.34033538e+01] [ 1.87479610e-02 -1.40934265e-04 9.99824232e-01 -3.39680794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342414037 meters 0.06899865432983666 Centerline is valid? [True, True] Translation: X:176.12, Y:-13.42, Z:-3.40 [[ 9.96962899e-01 7.64613553e-02 -1.47864856e-02 1.76116473e+02] [-7.64509357e-02 9.97072536e-01 1.26947214e-03 -1.34184872e+01] [ 1.48402643e-02 -1.35175967e-04 9.99889868e-01 -3.39827507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402414037 meters 0.0693196725372946 Centerline is valid? [True, True] Translation: X:176.18, Y:-13.44, Z:-3.40 [[ 9.97153526e-01 7.35333028e-02 -1.66642913e-02 1.76176617e+02] [-7.35196457e-02 9.97292742e-01 1.43152054e-03 -1.34379468e+01] [ 1.67244412e-02 -2.02292966e-04 9.99860116e-01 -3.40123954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46241403699997 meters 0.0695262002306554 Centerline is valid? [True, True] Translation: X:176.24, Y:-13.45, Z:-3.40 [[ 9.97263825e-01 7.20818549e-02 -1.64033401e-02 1.76237167e+02] [-7.20684159e-02 9.97398695e-01 1.40970302e-03 -1.34530170e+01] [ 1.64622840e-02 -2.23683094e-04 9.99864462e-01 -3.39877015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52241403699998 meters 0.069919703976849 Centerline is valid? [True, True] Translation: X:176.30, Y:-13.48, Z:-3.40 [[ 9.97633401e-01 6.73434549e-02 -1.38728892e-02 1.76297757e+02] [-6.73332763e-02 9.97729818e-01 1.20001602e-03 -1.34750323e+01] [ 1.39222084e-02 -2.63068978e-04 9.99903047e-01 -3.40226742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58241403699998 meters 0.0705559590095445 Centerline is valid? [True, True] Translation: X:176.36, Y:-13.49, Z:-3.40 [[ 9.97876068e-01 6.39453554e-02 -1.24235748e-02 1.76357150e+02] [-6.39369384e-02 9.97953363e-01 1.07391289e-03 -1.34916348e+01] [ 1.24668200e-02 -2.77306637e-04 9.99922248e-01 -3.40423352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64241403699998 meters 0.06959494338590806 Centerline is valid? [True, True] Translation: X:176.42, Y:-13.50, Z:-3.40 [[ 9.97907424e-01 6.37716170e-02 -1.06749632e-02 1.76418913e+02] [-6.37653368e-02 9.97964489e-01 9.27986506e-04 -1.34967546e+01] [ 1.07124133e-02 -2.45352002e-04 9.99942590e-01 -3.39934202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70241403699998 meters 0.06987880211138958 Centerline is valid? [True, True] Translation: X:176.48, Y:-13.51, Z:-3.40 [[ 9.97892592e-01 6.40670683e-02 -1.02852517e-02 1.76479650e+02] [-6.40612328e-02 9.97945567e-01 8.96164177e-04 -1.35073256e+01] [ 1.03215359e-02 -2.35389691e-04 9.99946704e-01 -3.39948822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76241403699999 meters 0.06995702793022406 Centerline is valid? [True, True] Translation: X:176.54, Y:-13.51, Z:-3.40 [[ 9.97888456e-01 6.34409985e-02 -1.39237011e-02 1.76539846e+02] [-6.34303118e-02 9.97985539e-01 1.20823835e-03 -1.35146494e+01] [ 1.39723042e-02 -3.22502401e-04 9.99902331e-01 -3.40213466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822414037 meters 0.07005666353959783 Centerline is valid? [True, True] Translation: X:176.60, Y:-13.52, Z:-3.40 [[ 9.97978065e-01 6.17910830e-02 -1.48876977e-02 1.76601124e+02] [-6.17785732e-02 9.98089034e-01 1.29915175e-03 -1.35208100e+01] [ 1.49395238e-02 -3.76784224e-04 9.99888328e-01 -3.40399576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882414037 meters 0.07046732026393475 Centerline is valid? [True, True] Translation: X:176.66, Y:-13.53, Z:-3.41 [[ 9.97925913e-01 6.26043629e-02 -1.49855385e-02 1.76661446e+02] [-6.25917305e-02 9.98038354e-01 1.31096445e-03 -1.35311857e+01] [ 1.50382143e-02 -3.70274606e-04 9.99886851e-01 -3.40645627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942414037 meters 0.0696185062485437 Centerline is valid? [True, True] Translation: X:176.72, Y:-13.54, Z:-3.40 [[ 9.97738345e-01 6.53921070e-02 -1.55585081e-02 1.76723106e+02] [-6.53787629e-02 9.97859586e-01 1.36530508e-03 -1.35386153e+01] [ 1.56144866e-02 -3.45021224e-04 9.99878027e-01 -3.40236746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002414037 meters 0.0699126171437324 Centerline is valid? [True, True] Translation: X:176.79, Y:-13.54, Z:-3.40 [[ 9.97327628e-01 7.06533416e-02 -1.85932027e-02 1.76786185e+02] [-7.06351015e-02 9.97500879e-01 1.63673138e-03 -1.35426858e+01] [ 1.86623765e-02 -3.19024667e-04 9.99825792e-01 -3.40464074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062414037 meters 0.07002683480687125 Centerline is valid? [True, True] Translation: X:176.85, Y:-13.55, Z:-3.41 [[ 9.97164016e-01 7.34303419e-02 -1.64896895e-02 1.76846351e+02] [-7.34164323e-02 9.97300321e-01 1.44812165e-03 -1.35497541e+01] [ 1.65515087e-02 -2.33400629e-04 9.99862987e-01 -3.40672512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122414037 meters 0.068892012961346 Centerline is valid? [True, True] Translation: X:176.91, Y:-13.56, Z:-3.41 [[ 9.96976668e-01 7.62554654e-02 -1.49207223e-02 1.76908202e+02] [-7.62442756e-02 9.97088297e-01 1.31818509e-03 -1.35581279e+01] [ 1.49777964e-02 -1.76580119e-04 9.99887811e-01 -3.40576719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182414037 meters 0.06912078092452872 Centerline is valid? [True, True] Translation: X:176.97, Y:-13.56, Z:-3.41 [[ 9.96876055e-01 7.69024771e-02 -1.80039022e-02 1.76969360e+02] [-7.68862366e-02 9.97038599e-01 1.59353437e-03 -1.35643763e+01] [ 1.80731321e-02 -2.04303978e-04 9.99836647e-01 -3.40936592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24241403699997 meters 0.0698230998863533 Centerline is valid? [True, True] Translation: X:177.03, Y:-13.57, Z:-3.41 [[ 9.96959842e-01 7.60588045e-02 -1.69154286e-02 1.77030412e+02] [-7.60442771e-02 9.97103312e-01 1.50131415e-03 -1.35724120e+01] [ 1.69806180e-02 -2.10428377e-04 9.99855797e-01 -3.41067702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30241403699998 meters 0.06929084653571121 Centerline is valid? [True, True] Translation: X:177.09, Y:-13.58, Z:-3.41 [[ 9.97116975e-01 7.44728579e-02 -1.45441354e-02 1.77091922e+02] [-7.44618840e-02 9.97223019e-01 1.29535100e-03 -1.35832366e+01] [ 1.46002151e-02 -2.08632752e-04 9.99893389e-01 -3.40794147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36241403699998 meters 0.0694597018384753 Centerline is valid? [True, True] Translation: X:177.15, Y:-13.59, Z:-3.41 [[ 9.97201911e-01 7.28994784e-02 -1.65533615e-02 1.77153322e+02] [-7.28850914e-02 9.97339259e-01 1.47156380e-03 -1.35908974e+01] [ 1.66165936e-02 -2.60952962e-04 9.99861901e-01 -3.41149656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42241403699998 meters 0.06950961243503284 Centerline is valid? [True, True] Translation: X:177.22, Y:-13.60, Z:-3.41 [[ 9.96863806e-01 7.70452208e-02 -1.80716787e-02 1.77215988e+02] [-7.70285954e-02 9.97027576e-01 1.61528014e-03 -1.35962065e+01] [ 1.81424116e-02 -2.18178283e-04 9.99835389e-01 -3.41475807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48241403699998 meters 0.0695335182983437 Centerline is valid? [True, True] Translation: X:177.28, Y:-13.60, Z:-3.42 [[ 9.96506596e-01 8.13645453e-02 -1.88258973e-02 1.77277587e+02] [-8.13472047e-02 9.96684398e-01 1.68633498e-03 -1.36030771e+01] [ 1.89006860e-02 -1.49009809e-04 9.99821355e-01 -3.41648915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542414037 meters 0.06931648540711842 Centerline is valid? [True, True] Translation: X:177.34, Y:-13.61, Z:-3.42 [[ 9.96076545e-01 8.65423074e-02 -1.84917557e-02 1.77339481e+02] [-8.65263845e-02 9.96248175e-01 1.66093538e-03 -1.36075546e+01] [ 1.85661191e-02 -5.43940046e-05 9.99827633e-01 -3.41761921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602414037 meters 0.06942201961777279 Centerline is valid? [True, True] Translation: X:177.40, Y:-13.61, Z:-3.42 [[ 9.95834322e-01 8.91193916e-02 -1.92804622e-02 1.77399851e+02] [-8.91024928e-02 9.96020951e-01 1.73546686e-03 -1.36138894e+01] [ 1.93584080e-02 -1.03002160e-05 9.99812608e-01 -3.42069162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662414037 meters 0.0691385009076131 Centerline is valid? [True, True] Translation: X:177.46, Y:-13.62, Z:-3.42 [[ 9.95579868e-01 9.22043433e-02 -1.78629698e-02 1.77461105e+02] [-9.21902437e-02 9.95740105e-01 1.61294025e-03 -1.36246390e+01] [ 1.79355956e-02 4.09806960e-05 9.99839143e-01 -3.41749582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722414037 meters 0.06914256819426474 Centerline is valid? [True, True] Translation: X:177.52, Y:-13.63, Z:-3.42 [[ 9.95178663e-01 9.66748632e-02 -1.65347773e-02 1.77522343e+02] [-9.66633273e-02 9.95316010e-01 1.49734201e-03 -1.36338788e+01] [ 1.66020839e-02 1.08183770e-04 9.99862170e-01 -3.42029533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782414037 meters 0.06920148594158416 Centerline is valid? [True, True] Translation: X:177.58, Y:-13.64, Z:-3.42 [[ 9.95008221e-01 9.84424736e-02 -1.63621068e-02 1.77584719e+02] [-9.84313318e-02 9.95142735e-01 1.48684880e-03 -1.36421268e+01] [ 1.64290008e-02 1.31117187e-04 9.99865026e-01 -3.42213766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842414037 meters 0.06936040491952375 Centerline is valid? [True, True] Translation: X:177.65, Y:-13.66, Z:-3.42 [[ 9.94996269e-01 9.87032411e-02 -1.54949741e-02 1.77645313e+02] [-9.86932304e-02 9.95116905e-01 1.41128215e-03 -1.36564084e+01] [ 1.55586088e-02 1.25028574e-04 9.99878950e-01 -3.42333880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902414037 meters 0.06957181138426644 Centerline is valid? [True, True] Translation: X:177.71, Y:-13.67, Z:-3.43 [[ 9.94859310e-01 9.96258854e-02 -1.81558778e-02 1.77706702e+02] [-9.96123429e-02 9.95024952e-01 1.65098666e-03 -1.36664033e+01] [ 1.82300324e-02 1.66050072e-04 9.99833805e-01 -3.42620167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96241403699997 meters 0.06933216232524075 Centerline is valid? [True, True] Translation: X:177.77, Y:-13.68, Z:-3.42 [[ 9.94520589e-01 1.02799577e-01 -1.90011939e-02 1.77767577e+02] [-1.02785183e-01 9.94702064e-01 1.73521646e-03 -1.36785379e+01] [ 1.90789063e-02 2.27332688e-04 9.99817955e-01 -3.42320399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02241403699998 meters 0.06926958568459757 Centerline is valid? [True, True] Translation: X:177.83, Y:-13.69, Z:-3.42 [[ 9.94487662e-01 1.03319306e-01 -1.78720600e-02 1.77828870e+02] [-1.03306565e-01 9.94648216e-01 1.63716072e-03 -1.36866365e+01] [ 1.79455629e-02 2.18164981e-04 9.99838942e-01 -3.42344928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08241403699998 meters 0.06934041940936272 Centerline is valid? [True, True] Translation: X:177.89, Y:-13.70, Z:-3.42 [[ 9.94497575e-01 1.03510328e-01 -1.61302375e-02 1.77890382e+02] [-1.03499902e-01 9.94628360e-01 1.48210057e-03 -1.36995642e+01] [ 1.61970044e-02 1.95532573e-04 9.99868801e-01 -3.42348377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14241403699998 meters 0.06928977287861535 Centerline is valid? [True, True] Translation: X:177.95, Y:-13.72, Z:-3.42 [[ 9.94630654e-01 1.02381415e-01 -1.50966063e-02 1.77950901e+02] [-1.02372089e-01 9.94745203e-01 1.39130741e-03 -1.37177191e+01] [ 1.51597207e-02 1.61634114e-04 9.99885072e-01 -3.42348016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20241403699998 meters 0.06929599437452469 Centerline is valid? [True, True] Translation: X:178.01, Y:-13.73, Z:-3.43 [[ 9.94813405e-01 1.00450657e-01 -1.59985827e-02 1.78010740e+02] [-1.00439936e-01 9.94942031e-01 1.47424365e-03 -1.37343390e+01] [ 1.60657511e-02 1.40299280e-04 9.99870928e-01 -3.42568520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26241403699999 meters 0.0696064443653777 Centerline is valid? [True, True] Translation: X:178.07, Y:-13.75, Z:-3.43 [[ 9.94929605e-01 9.91461880e-02 -1.68853503e-02 1.78070389e+02] [-9.91340238e-02 9.95072871e-01 1.55796310e-03 -1.37479722e+01] [ 1.69566201e-02 1.23849115e-04 9.99856219e-01 -3.42914100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322414037 meters 0.06970452499529133 Centerline is valid? [True, True] Translation: X:178.13, Y:-13.77, Z:-3.43 [[ 9.95174427e-01 9.57507050e-02 -2.14397586e-02 1.78129976e+02] [-9.57303319e-02 9.95405342e-01 1.97694048e-03 -1.37672740e+01] [ 2.15305437e-02 8.50345947e-05 9.99768187e-01 -3.42861687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382414037 meters 0.06945921962815212 Centerline is valid? [True, True] Translation: X:178.19, Y:-13.78, Z:-3.43 [[ 9.95542318e-01 9.25345560e-02 -1.82441516e-02 1.78190468e+02] [-9.25192527e-02 9.95709474e-01 1.68288005e-03 -1.37809069e+01] [ 1.83215992e-02 1.25569730e-05 9.99832145e-01 -3.42745416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442414037 meters 0.06934732719605052 Centerline is valid? [True, True] Translation: X:178.25, Y:-13.80, Z:-3.43 [[ 9.96184730e-01 8.62945037e-02 -1.30093242e-02 1.78248678e+02] [-8.62862040e-02 9.96269669e-01 1.19897582e-03 -1.37984081e+01] [ 1.30642601e-02 -7.18762015e-05 9.99914656e-01 -3.42692551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502414037 meters 0.06982796251246286 Centerline is valid? [True, True] Translation: X:178.31, Y:-13.81, Z:-3.43 [[ 9.96689372e-01 7.95016548e-02 -1.70229811e-02 1.78307993e+02] [-7.94864342e-02 9.96834712e-01 1.56993502e-03 -1.38144139e+01] [ 1.70939109e-02 -2.11641486e-04 9.99853866e-01 -3.43086443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562414037 meters 0.0705655313780133 Centerline is valid? [True, True] Translation: X:178.37, Y:-13.83, Z:-3.44 [[ 9.96998839e-01 7.48884391e-02 -1.96223386e-02 1.78367317e+02] [-7.48673155e-02 9.97191862e-01 1.80994404e-03 -1.38271756e+01] [ 1.97027802e-02 -3.35440291e-04 9.99805825e-01 -3.43570351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622414037 meters 0.0705511630118155 Centerline is valid? [True, True] Translation: X:178.43, Y:-13.84, Z:-3.43 [[ 9.97332254e-01 7.06520108e-02 -1.83485104e-02 1.78428246e+02] [-7.06326764e-02 9.97500944e-01 1.70046867e-03 -1.38379386e+01] [ 1.84227980e-02 -3.99927856e-04 9.99830206e-01 -3.43217299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682414037 meters 0.07122384060863932 Centerline is valid? [True, True] Translation: X:178.49, Y:-13.85, Z:-3.43 [[ 9.97524574e-01 6.80189587e-02 -1.78366262e-02 1.78488633e+02] [-6.80001952e-02 9.97683932e-01 1.65705975e-03 -1.38469026e+01] [ 1.79080268e-02 -4.40063757e-04 9.99839542e-01 -3.43494163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74241403699997 meters 0.07127427481168608 Centerline is valid? [True, True] Translation: X:178.55, Y:-13.86, Z:-3.43 [[ 9.97777699e-01 6.48070325e-02 -1.54826212e-02 1.78551053e+02] [-6.47924173e-02 9.97897719e-01 1.44424953e-03 -1.38558182e+01] [ 1.55436699e-02 -4.37883515e-04 9.99879094e-01 -3.43239711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80241403699998 meters 0.0712031202852412 Centerline is valid? [True, True] Translation: X:178.61, Y:-13.86, Z:-3.43 [[ 9.98077380e-01 6.06428991e-02 -1.28055422e-02 1.78612495e+02] [-6.06325131e-02 9.98159438e-01 1.19809430e-03 -1.38637096e+01] [ 1.28546287e-02 -4.19358614e-04 9.99917288e-01 -3.42926653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86241403699998 meters 0.07298259877336384 Centerline is valid? [True, True] Translation: X:178.67, Y:-13.88, Z:-3.43 [[ 9.98513128e-01 5.17336785e-02 -1.71802018e-02 1.78670965e+02] [-5.17137530e-02 9.98660663e-01 1.60233524e-03 -1.38765665e+01] [ 1.72400864e-02 -7.11500059e-04 9.99851126e-01 -3.43215106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92241403699998 meters 0.0740164347230211 Centerline is valid? [True, True] Translation: X:178.73, Y:-13.88, Z:-3.44 [[ 9.98786625e-01 4.49862607e-02 -2.00378298e-02 1.78731985e+02] [-4.49577884e-02 9.98987138e-01 1.86937062e-03 -1.38834612e+01] [ 2.01016303e-02 -9.66245855e-04 9.99797475e-01 -3.43616534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98241403699998 meters 0.07364651831915857 Centerline is valid? [True, True] Translation: X:178.79, Y:-13.89, Z:-3.43 [[ 9.99050035e-01 3.97498864e-02 -1.78598355e-02 1.78793434e+02] [-3.97264193e-02 9.99209204e-01 1.66696818e-03 -1.38852804e+01] [ 1.79119738e-02 -9.55877308e-04 9.99839111e-01 -3.43006881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042414037 meters 0.07451229156668501 Centerline is valid? [True, True] Translation: X:178.85, Y:-13.89, Z:-3.43 [[ 9.99154404e-01 3.63604345e-02 -1.91936314e-02 1.78853507e+02] [-3.63327170e-02 9.99338144e-01 1.79095379e-03 -1.38901822e+01] [ 1.92460479e-02 -1.09208259e-03 9.99814181e-01 -3.43046428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102414037 meters 0.07547949460152076 Centerline is valid? [True, True] Translation: X:178.91, Y:-13.89, Z:-3.43 [[ 9.99255355e-01 3.24725486e-02 -2.08391459e-02 1.78913970e+02] [-3.24390312e-02 9.99471825e-01 1.94450491e-03 -1.38918865e+01] [ 2.08912822e-02 -1.26705523e-03 9.99780950e-01 -3.43386794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162414037 meters 0.07654814442603969 Centerline is valid? [True, True] Translation: X:178.98, Y:-13.89, Z:-3.44 [[ 9.99375109e-01 2.68120057e-02 -2.30327432e-02 1.78975268e+02] [-2.67695542e-02 9.99639320e-01 2.14950516e-03 -1.38899710e+01] [ 2.30820683e-02 -1.53158568e-03 9.99732400e-01 -3.43550623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222414037 meters 0.07668002189410043 Centerline is valid? [True, True] Translation: X:179.04, Y:-13.89, Z:-3.44 [[ 9.99500040e-01 2.24344219e-02 -2.22792781e-02 1.79035956e+02] [-2.23936268e-02 9.99747070e-01 2.07891237e-03 -1.38865461e+01] [ 2.23202822e-02 -1.57895915e-03 9.99749625e-01 -3.43556450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282414037 meters 0.07789111356534033 Centerline is valid? [True, True] Translation: X:179.10, Y:-13.88, Z:-3.44 [[ 9.99509601e-01 2.08005417e-02 -2.34071603e-02 1.79096139e+02] [-2.07550805e-02 9.99782206e-01 2.18348944e-03 -1.38810208e+01] [ 2.34474801e-02 -1.69660116e-03 9.99723630e-01 -3.43897573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342414037 meters 0.07631110915734012 Centerline is valid? [True, True] Translation: X:179.16, Y:-13.87, Z:-3.44 [[ 9.99492709e-01 2.02409415e-02 -2.45891963e-02 1.79157146e+02] [-2.01906326e-02 9.99793520e-01 2.29255296e-03 -1.38735519e+01] [ 2.46305225e-02 -1.79491854e-03 9.99695011e-01 -3.43751486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402414037 meters 0.07543154292657202 Centerline is valid? [True, True] Translation: X:179.22, Y:-13.86, Z:-3.44 [[ 9.99511679e-01 2.08301571e-02 -2.32918247e-02 1.79217436e+02] [-2.07852334e-02 9.99781610e-01 2.16919450e-03 -1.38625481e+01] [ 2.33319226e-02 -1.68400923e-03 9.99726355e-01 -3.43681424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46241403699997 meters 0.07540402329237621 Centerline is valid? [True, True] Translation: X:179.28, Y:-13.85, Z:-3.44 [[ 9.99434139e-01 2.48640736e-02 -2.26534729e-02 1.79279362e+02] [-2.48225835e-02 9.99689644e-01 2.11090972e-03 -1.38507655e+01] [ 2.26989281e-02 -1.54739752e-03 9.99741149e-01 -3.44014085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52241403699998 meters 0.07544559257659943 Centerline is valid? [True, True] Translation: X:179.34, Y:-13.85, Z:-3.44 [[ 9.99355592e-01 2.88808420e-02 -2.13142600e-02 1.79341013e+02] [-2.88450093e-02 9.99581922e-01 1.98675692e-03 -1.38461551e+01] [ 2.13627282e-02 -1.37066661e-03 9.99770851e-01 -3.44321044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58241403699998 meters 0.07453807824298313 Centerline is valid? [True, True] Translation: X:179.40, Y:-13.83, Z:-3.44 [[ 9.99145700e-01 3.72341519e-02 -1.79300633e-02 1.79403349e+02] [-3.72101315e-02 9.99306065e-01 1.67154898e-03 -1.38338580e+01] [ 1.79798597e-02 -1.00294096e-03 9.99837846e-01 -3.44404308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64241403699998 meters 0.07449856018622246 Centerline is valid? [True, True] Translation: X:179.46, Y:-13.83, Z:-3.45 [[ 9.99000183e-01 4.14015659e-02 -1.68684444e-02 1.79463532e+02] [-4.13809108e-02 9.99142207e-01 1.57183729e-03 -1.38279182e+01] [ 1.69190513e-02 -8.72234144e-04 9.99856482e-01 -3.44729618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70241403699998 meters 0.0738600706311001 Centerline is valid? [True, True] Translation: X:179.53, Y:-13.82, Z:-3.45 [[ 9.98901150e-01 4.32640422e-02 -1.80198651e-02 1.79526285e+02] [-4.32407446e-02 9.99063268e-01 1.68069044e-03 -1.38163591e+01] [ 1.80756988e-02 -8.99651229e-04 9.99836216e-01 -3.45009451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76241403699999 meters 0.07446332417694893 Centerline is valid? [True, True] Translation: X:179.59, Y:-13.81, Z:-3.45 [[ 9.98991832e-01 4.21483260e-02 -1.54543805e-02 1.79587046e+02] [-4.21310660e-02 9.99111053e-01 1.44085992e-03 -1.38149740e+01] [ 1.55013722e-02 -7.88297772e-04 9.99879536e-01 -3.45165678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822414037 meters 0.07474864737586222 Centerline is valid? [True, True] Translation: X:179.65, Y:-13.81, Z:-3.45 [[ 9.99138538e-01 3.84577538e-02 -1.55943478e-02 1.79649004e+02] [-3.84397221e-02 9.99259862e-01 1.45450293e-03 -1.38063695e+01] [ 1.56387428e-02 -8.53807536e-04 9.99877343e-01 -3.45311077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882414037 meters 0.07684947655782848 Centerline is valid? [True, True] Translation: X:179.71, Y:-13.81, Z:-3.46 [[ 9.99318310e-01 3.28257313e-02 -1.68933885e-02 1.79708970e+02] [-3.28037821e-02 9.99460570e-01 1.57481836e-03 -1.38051587e+01] [ 1.69359703e-02 -1.01957779e-03 9.99856056e-01 -3.45738751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942414037 meters 0.07623829837383031 Centerline is valid? [True, True] Translation: X:179.77, Y:-13.81, Z:-3.46 [[ 9.99407648e-01 2.97665438e-02 -1.72715529e-02 1.79769549e+02] [-2.97431520e-02 9.99556278e-01 1.60970880e-03 -1.38054124e+01] [ 1.73118046e-02 -1.09504486e-03 9.99849540e-01 -3.45594079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002414037 meters 0.0915256953628469 Centerline is valid? [True, True] Translation: X:179.83, Y:-13.84, Z:-3.47 [[ 9.99607141e-01 2.43464041e-02 -1.38858095e-02 1.79826352e+02] [-2.43307608e-02 9.99703125e-01 1.29441790e-03 -1.38379195e+01] [ 1.39132016e-02 -9.56057070e-04 9.99902750e-01 -3.47071094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062414037 meters 0.09533930041422095 Centerline is valid? [True, True] Translation: X:179.89, Y:-13.84, Z:-3.47 [[ 9.99744885e-01 1.83278631e-02 -1.32005460e-02 1.79886812e+02] [-1.83132037e-02 9.99831542e-01 1.23054726e-03 -1.38405560e+01] [ 1.32208756e-02 -9.88489045e-04 9.99912112e-01 -3.47121207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122414037 meters 0.09782860920662238 Centerline is valid? [True, True] Translation: X:179.95, Y:-13.84, Z:-3.47 [[ 9.99784777e-01 1.44373801e-02 -1.48983493e-02 1.79947620e+02] [-1.44182784e-02 9.99895087e-01 1.38875607e-03 -1.38443756e+01] [ 1.49168362e-02 -1.17364863e-03 9.99888049e-01 -3.47345105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182414037 meters 0.09700768725841408 Centerline is valid? [True, True] Translation: X:180.01, Y:-13.84, Z:-3.47 [[ 9.99842273e-01 8.72492555e-03 -1.54694605e-02 1.80009083e+02] [-8.70365071e-03 9.99961083e-01 1.44207276e-03 -1.38388339e+01] [ 1.54814404e-02 -1.30720452e-03 9.99879301e-01 -3.47334329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24241403699997 meters 0.10540769768875838 Centerline is valid? [True, False] Translation: X:180.01, Y:-13.83, Z:-3.48 [[ 9.99965678e-01 8.28493081e-03 -4.65497987e-05 1.80007133e+02] [-8.28499097e-03 9.99964569e-01 -1.48983129e-03 -1.38316976e+01] [ 3.42050003e-05 1.49016582e-03 9.99998889e-01 -3.47667312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30241403699998 meters 0.10170775214969695 Centerline is valid? [False, False] Translation: X:180.01, Y:-13.83, Z:-3.48 [[ 9.99968647e-01 7.90352975e-03 4.88667311e-04 1.80005077e+02] [-7.90197324e-03 9.99963946e-01 -3.10905940e-03 -1.38251116e+01] [-5.13222236e-04 3.10510049e-03 9.99995047e-01 -3.47501953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36241403699998 meters 0.10195904016468146 Centerline is valid? [False, False] Translation: X:180.01, Y:-13.81, Z:-3.48 [[ 9.99958244e-01 9.13056920e-03 3.79058707e-04 1.80007268e+02] [-9.12895657e-03 9.99950097e-01 -4.05788533e-03 -1.38141541e+01] [-4.16090593e-04 4.05425548e-03 9.99991695e-01 -3.47750710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42241403699998 meters 0.0862429935420643 Centerline is valid? [False, True] Translation: X:180.01, Y:-13.80, Z:-3.48 [[ 9.99933127e-01 1.14998830e-02 1.22271113e-03 1.80006747e+02] [-1.14944388e-02 9.99924387e-01 -4.37008229e-03 -1.37987884e+01] [-1.27287411e-03 4.35573567e-03 9.99989704e-01 -3.47773539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48241403699998 meters 0.084780512289675 Centerline is valid? [True, True] Translation: X:180.07, Y:-13.79, Z:-3.48 [[ 9.99898085e-01 1.36351308e-02 4.23119771e-03 1.80067926e+02] [-1.36333939e-02 9.99906965e-01 -4.39070028e-04 -1.37933394e+01] [-4.23679084e-03 3.81339695e-04 9.99990952e-01 -3.47812134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542414037 meters 0.08355751660138862 Centerline is valid? [True, True] Translation: X:180.13, Y:-13.78, Z:-3.48 [[ 9.99857754e-01 1.59464819e-02 5.49383410e-03 1.80129736e+02] [-1.59435878e-02 9.99872730e-01 -5.70192460e-04 -1.37832038e+01] [-5.50222746e-03 4.82519926e-04 9.99984746e-01 -3.48044432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602414037 meters 0.08426263194153236 Centerline is valid? [True, True] Translation: X:180.19, Y:-13.78, Z:-3.48 [[ 9.99846132e-01 1.62824179e-02 6.52647047e-03 1.80192612e+02] [-1.62783860e-02 9.99867274e-01 -6.70420947e-04 -1.37827274e+01] [-6.53652031e-03 5.64077385e-04 9.99978478e-01 -3.48435936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662414037 meters 0.08402645079404089 Centerline is valid? [True, True] Translation: X:180.26, Y:-13.78, Z:-3.49 [[ 9.99838912e-01 1.63302997e-02 7.44792610e-03 1.80256531e+02] [-1.63250345e-02 9.99866443e-01 -7.67187269e-04 -1.37763208e+01] [-7.45945978e-03 6.45476033e-04 9.99971970e-01 -3.48819252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722414037 meters 0.08663746741981321 Centerline is valid? [True, True] Translation: X:180.32, Y:-13.78, Z:-3.49 [[ 9.99818544e-01 1.72166281e-02 8.15274259e-03 1.80317595e+02] [-1.72103090e-02 9.99851535e-01 -8.44625142e-04 -1.37763851e+01] [-8.16607379e-03 7.04160660e-04 9.99966409e-01 -3.49383186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782414037 meters 0.08539350011585237 Centerline is valid? [True, True] Translation: X:180.38, Y:-13.77, Z:-3.50 [[ 9.99827937e-01 1.66349038e-02 8.20832474e-03 1.80380175e+02] [-1.66284664e-02 9.99861375e-01 -8.51881298e-04 -1.37741641e+01] [-8.22135782e-03 7.15242869e-04 9.99965948e-01 -3.49638191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842414037 meters 0.08248950467741885 Centerline is valid? [True, True] Translation: X:180.44, Y:-13.76, Z:-3.50 [[ 9.99786649e-01 1.69731947e-02 1.17714168e-02 1.80442986e+02] [-1.69598446e-02 9.99855411e-01 -1.23301874e-03 -1.37631732e+01] [-1.17906431e-02 1.03311427e-03 9.99929954e-01 -3.49650259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902414037 meters 0.08224504051130556 Centerline is valid? [True, True] Translation: X:180.50, Y:-13.76, Z:-3.50 [[ 9.99745884e-01 1.99196999e-02 1.05533623e-02 1.80504892e+02] [-1.99091253e-02 9.99801182e-01 -1.10613653e-03 -1.37590895e+01] [-1.05732980e-02 8.95747227e-04 9.99943700e-01 -3.50164094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96241403699997 meters 0.08200890873413857 Centerline is valid? [True, True] Translation: X:180.57, Y:-13.75, Z:-3.51 [[ 9.99626197e-01 2.57390138e-02 9.21788714e-03 1.80565161e+02] [-2.57311824e-02 9.99668430e-01 -9.67194238e-04 -1.37527416e+01] [-9.23972540e-03 7.29645562e-04 9.99957047e-01 -3.50708193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02241403699998 meters 0.07949762266603237 Centerline is valid? [True, True] Translation: X:180.63, Y:-13.74, Z:-3.51 [[ 9.99449093e-01 3.04707861e-02 1.31545567e-02 1.80627253e+02] [-3.04552563e-02 9.99535179e-01 -1.37932533e-03 -1.37419121e+01] [-1.31904713e-02 9.77940057e-04 9.99912524e-01 -3.50679143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08241403699998 meters 0.08046911073559812 Centerline is valid? [True, True] Translation: X:180.69, Y:-13.74, Z:-3.51 [[ 9.99366928e-01 3.25010394e-02 1.44715467e-02 1.80687794e+02] [-3.24824566e-02 9.99471154e-01 -1.51735589e-03 -1.37406060e+01] [-1.45132092e-02 1.04632390e-03 9.99894130e-01 -3.51008577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14241403699998 meters 0.08271735417869795 Centerline is valid? [True, True] Translation: X:180.75, Y:-13.74, Z:-3.52 [[ 9.99390665e-01 3.27770671e-02 1.19984054e-02 1.80748611e+02] [-3.27643477e-02 9.99462316e-01 -1.25517636e-03 -1.37425731e+01] [-1.20330951e-02 8.61291610e-04 9.99927229e-01 -3.51631164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20241403699998 meters 0.08368782765323837 Centerline is valid? [True, True] Translation: X:180.81, Y:-13.75, Z:-3.52 [[ 9.99423073e-01 3.17011320e-02 1.21885141e-02 1.80810309e+02] [-3.16879038e-02 9.99496997e-01 -1.27694551e-03 -1.37456091e+01] [-1.22228638e-02 8.89980346e-04 9.99924902e-01 -3.51999583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26241403699999 meters 0.08193674505836877 Centerline is valid? [True, True] Translation: X:180.87, Y:-13.74, Z:-3.52 [[ 9.99461121e-01 3.04066323e-02 1.23654365e-02 1.80873273e+02] [-3.03929276e-02 9.99537190e-01 -1.29476123e-03 -1.37368625e+01] [-1.23990830e-02 9.18241696e-04 9.99922707e-01 -3.52246364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322414037 meters 0.08356287314027885 Centerline is valid? [True, True] Translation: X:180.93, Y:-13.74, Z:-3.53 [[ 9.99527954e-01 2.89411375e-02 1.03092008e-02 1.80933437e+02] [-2.89314780e-02 9.99580808e-01 -1.08491757e-03 -1.37406242e+01] [-1.03362780e-02 7.86145024e-04 9.99946270e-01 -3.52669545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382414037 meters 0.08219273158663361 Centerline is valid? [True, True] Translation: X:180.99, Y:-13.74, Z:-3.53 [[ 9.99636628e-01 2.43728252e-02 1.15142035e-02 1.80994309e+02] [-2.43604519e-02 9.99702503e-01 -1.21367094e-03 -1.37358414e+01] [-1.15403586e-02 9.32738727e-04 9.99932973e-01 -3.52785129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442414037 meters 0.08271427034229763 Centerline is valid? [True, True] Translation: X:181.05, Y:-13.74, Z:-3.53 [[ 9.99725939e-01 2.03125899e-02 1.16380896e-02 1.81054844e+02] [-2.02996822e-02 9.99793188e-01 -1.22615585e-03 -1.37374058e+01] [-1.16605891e-02 9.89570292e-04 9.99931523e-01 -3.53066913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502414037 meters 0.08713952243924615 Centerline is valid? [True, True] Translation: X:181.11, Y:-13.74, Z:-3.53 [[ 9.99824987e-01 1.44088718e-02 1.19322715e-02 1.81113633e+02] [-1.43948806e-02 9.99895597e-01 -1.25761095e-03 -1.37441865e+01] [-1.19491465e-02 1.08562723e-03 9.99928017e-01 -3.53477098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562414037 meters 0.08653195588466585 Centerline is valid? [True, True] Translation: X:181.18, Y:-13.74, Z:-3.54 [[ 9.99913463e-01 8.65387684e-03 9.90846162e-03 1.81175100e+02] [-8.64395487e-03 9.99962096e-01 -1.04375133e-03 -1.37412027e+01] [-9.91711855e-03 9.58012711e-04 9.99950365e-01 -3.53788231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622414037 meters 0.08997280750924351 Centerline is valid? [True, True] Translation: X:181.23, Y:-13.75, Z:-3.54 [[ 9.99952879e-01 4.20712672e-03 8.74872827e-03 1.81234244e+02] [-4.19921704e-03 9.99990758e-01 -9.22268056e-04 -1.37483255e+01] [-8.75252751e-03 8.85486789e-04 9.99961304e-01 -3.54179480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682414037 meters 0.08950966975699456 Centerline is valid? [True, True] Translation: X:181.30, Y:-13.74, Z:-3.54 [[ 9.99945659e-01 -1.41373471e-03 1.03286301e-02 1.81295866e+02] [ 1.42504583e-03 9.99998393e-01 -1.08784597e-03 -1.37448109e+01] [-1.03270756e-02 1.10250562e-03 9.99946067e-01 -3.54125826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74241403699997 meters 0.09135605343395606 Centerline is valid? [True, True] Translation: X:181.36, Y:-13.74, Z:-3.54 [[ 9.99940162e-01 -5.65312041e-03 9.36563729e-03 1.81356852e+02] [ 5.66260406e-03 9.99983481e-01 -9.86393164e-04 -1.37427233e+01] [-9.35990638e-03 1.03936804e-03 9.99955655e-01 -3.54370677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80241403699998 meters 0.09359233975187793 Centerline is valid? [True, True] Translation: X:181.42, Y:-13.75, Z:-3.55 [[ 9.99934224e-01 -6.20944890e-03 9.64319184e-03 1.81417109e+02] [ 6.21950098e-03 9.99980146e-01 -1.01276278e-03 -1.37498850e+01] [-9.63671168e-03 1.07267201e-03 9.99952990e-01 -3.54653202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86241403699998 meters 0.0947058861043739 Centerline is valid? [True, True] Translation: X:181.48, Y:-13.75, Z:-3.55 [[ 9.99930802e-01 -6.95219255e-03 9.48987727e-03 1.81479067e+02] [ 6.96198797e-03 9.99975266e-01 -9.99552308e-04 -1.37518328e+01] [-9.48269347e-03 1.06555155e-03 9.99954471e-01 -3.54916010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92241403699998 meters 0.09574380571003961 Centerline is valid? [True, True] Translation: X:181.54, Y:-13.75, Z:-3.55 [[ 9.99938432e-01 -5.89565555e-03 9.40067119e-03 1.81541593e+02] [ 5.90522633e-03 9.99982073e-01 -9.90662979e-04 -1.37494282e+01] [-9.39466206e-03 1.04611508e-03 9.99955322e-01 -3.55234702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98241403699998 meters 0.09146760714318457 Centerline is valid? [True, True] Translation: X:181.60, Y:-13.74, Z:-3.55 [[ 9.99940372e-01 -2.97808603e-03 1.05063373e-02 1.81603641e+02] [ 2.98990273e-03 9.99994915e-01 -1.10919339e-03 -1.37378545e+01] [-1.05029806e-02 1.14054018e-03 9.99944192e-01 -3.55222254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042414037 meters 0.08972320879976718 Centerline is valid? [True, True] Translation: X:181.67, Y:-13.73, Z:-3.55 [[ 9.99930191e-01 2.31512353e-03 1.15867555e-02 1.81665728e+02] [-2.30110427e-03 9.99996604e-01 -1.22312366e-03 -1.37269421e+01] [-1.15895479e-02 1.19637594e-03 9.99932123e-01 -3.55403588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102414037 meters 0.0900088970435423 Centerline is valid? [True, True] Translation: X:181.73, Y:-13.73, Z:-3.56 [[ 9.99921945e-01 4.48162627e-03 1.16627027e-02 1.81726780e+02] [-4.46757105e-03 9.99989263e-01 -1.23091697e-03 -1.37258656e+01] [-1.16680940e-02 1.17871693e-03 9.99931231e-01 -3.55810159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162414037 meters 0.08715297076657173 Centerline is valid? [True, True] Translation: X:181.79, Y:-13.71, Z:-3.56 [[ 9.99931418e-01 8.00120113e-03 8.55224677e-03 1.81789050e+02] [-7.99376784e-03 9.99967642e-01 -9.02992106e-04 -1.37124616e+01] [-8.55919506e-03 8.34565501e-04 9.99963021e-01 -3.56091968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222414037 meters 0.08779596140613784 Centerline is valid? [True, True] Translation: X:181.85, Y:-13.71, Z:-3.56 [[ 9.99906012e-01 1.05120991e-02 8.80128045e-03 1.81849482e+02] [-1.05043198e-02 9.99944396e-01 -9.29642239e-04 -1.37101392e+01] [-8.81056356e-03 8.37103399e-04 9.99960836e-01 -3.56196373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282414037 meters 0.08468992314930995 Centerline is valid? [True, True] Translation: X:181.91, Y:-13.70, Z:-3.56 [[ 9.99859768e-01 1.43249647e-02 8.67407831e-03 1.81912021e+02] [-1.43175548e-02 9.99897079e-01 -9.15750858e-04 -1.36988893e+01] [-8.68630367e-03 7.91430848e-04 9.99961960e-01 -3.56143013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342414037 meters 0.08439339427620146 Centerline is valid? [True, True] Translation: X:181.97, Y:-13.70, Z:-3.57 [[ 9.99832334e-01 1.72837146e-02 6.04795457e-03 1.81973643e+02] [-1.72801696e-02 9.99850483e-01 -6.37916949e-04 -1.36972866e+01] [-6.05807587e-03 5.33300312e-04 9.99981507e-01 -3.56547208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402414037 meters 0.08355131630869621 Centerline is valid? [True, True] Translation: X:182.03, Y:-13.69, Z:-3.57 [[ 9.99721481e-01 2.31673133e-02 4.49838603e-03 1.82034678e+02] [-2.31654067e-02 9.99731533e-01 -4.75471936e-04 -1.36917611e+01] [-4.50819377e-03 3.71132566e-04 9.99989769e-01 -3.56869140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46241403699997 meters 0.08279874721214406 Centerline is valid? [True, True] Translation: X:182.09, Y:-13.69, Z:-3.57 [[ 9.99482355e-01 3.15938686e-02 6.07040917e-03 1.82094675e+02] [-3.15905492e-02 9.99500688e-01 -6.41948369e-04 -1.36854957e+01] [-6.08765978e-03 4.49848508e-04 9.99981369e-01 -3.56934007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52241403699998 meters 0.07847452862254323 Centerline is valid? [True, True] Translation: X:182.16, Y:-13.68, Z:-3.57 [[ 9.99284505e-01 3.75136360e-02 4.81714409e-03 1.82155742e+02] [-3.75116142e-02 9.99296062e-01 -5.09395830e-04 -1.36759499e+01] [-4.83286241e-03 3.28332509e-04 9.99988268e-01 -3.56918403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58241403699998 meters 0.07701284933576857 Centerline is valid? [True, True] Translation: X:182.22, Y:-13.67, Z:-3.57 [[ 9.99065622e-01 4.29469203e-02 4.84209847e-03 1.82216365e+02] [-4.29449421e-02 9.99077309e-01 -5.11841192e-04 -1.36725458e+01] [-4.85961271e-03 3.03419301e-04 9.99988146e-01 -3.57239982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64241403699998 meters 0.07746302221486985 Centerline is valid? [True, True] Translation: X:182.28, Y:-13.68, Z:-3.57 [[ 9.98933907e-01 4.55804920e-02 7.31217561e-03 1.82275015e+02] [-4.55760526e-02 9.98960573e-01 -7.72693203e-04 -1.36766631e+01] [-7.33979488e-03 4.38609340e-04 9.99972967e-01 -3.57495878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70241403699998 meters 0.07578537316482074 Centerline is valid? [True, True] Translation: X:182.34, Y:-13.67, Z:-3.58 [[ 9.98679535e-01 5.08435882e-02 7.35633952e-03 1.82335980e+02] [-5.08392477e-02 9.98706548e-01 -7.75958960e-04 -1.36738964e+01] [-7.38627699e-03 4.00943566e-04 9.99972641e-01 -3.57615712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76241403699999 meters 0.07450542429958422 Centerline is valid? [True, True] Translation: X:182.40, Y:-13.67, Z:-3.58 [[ 9.98473697e-01 5.47933558e-02 6.92562279e-03 1.82396286e+02] [-5.47896005e-02 9.98497654e-01 -7.30951923e-04 -1.36736286e+01] [-6.95526942e-03 3.50384163e-04 9.99975750e-01 -3.57670204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822414037 meters 0.07392646998555953 Centerline is valid? [True, True] Translation: X:182.46, Y:-13.67, Z:-3.58 [[ 9.98147645e-01 6.04018039e-02 7.27323405e-03 1.82457296e+02] [-6.03978144e-02 9.98174091e-01 -7.67124089e-04 -1.36737028e+01] [-7.30628946e-03 3.26415663e-04 9.99973255e-01 -3.57813182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882414037 meters 0.07373284079667981 Centerline is valid? [True, True] Translation: X:182.52, Y:-13.68, Z:-3.58 [[ 9.97922777e-01 6.41021641e-02 6.40653725e-03 1.82517415e+02] [-6.40991427e-02 9.97943306e-01 -6.76051181e-04 -1.36782475e+01] [-6.43669731e-03 2.63993327e-04 9.99979249e-01 -3.58240308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942414037 meters 0.07344069223693088 Centerline is valid? [True, True] Translation: X:182.58, Y:-13.69, Z:-3.59 [[ 9.97581066e-01 6.92384040e-02 6.16925439e-03 1.82575811e+02] [-6.92356979e-02 9.97600117e-01 -6.51391125e-04 -1.36854815e+01] [-6.19955019e-03 2.22682820e-04 9.99980758e-01 -3.58804382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002414037 meters 0.0727227068510093 Centerline is valid? [True, True] Translation: X:182.64, Y:-13.69, Z:-3.59 [[ 9.97277365e-01 7.35074942e-02 5.87406431e-03 1.82635185e+02] [-7.35051158e-02 9.97294647e-01 -6.20072197e-04 -1.36889827e+01] [-5.90375285e-03 1.86610190e-04 9.99982555e-01 -3.58906905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062414037 meters 0.07169902965583286 Centerline is valid? [True, True] Translation: X:182.70, Y:-13.69, Z:-3.59 [[ 9.96664377e-01 8.13973888e-02 5.88086098e-03 1.82695439e+02] [-8.13951460e-02 9.96681717e-01 -6.20122731e-04 -1.36906331e+01] [-5.91182299e-03 1.39380698e-04 9.99982515e-01 -3.58923750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122414037 meters 0.07115510103756809 Centerline is valid? [True, True] Translation: X:182.75, Y:-13.70, Z:-3.59 [[ 9.96249754e-01 8.61165225e-02 8.38882913e-03 1.82754324e+02] [-8.61121253e-02 9.96285059e-01 -8.84636101e-04 -1.36997473e+01] [-8.43384691e-03 1.58938592e-04 9.99964422e-01 -3.59063721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182414037 meters 0.07070946851710053 Centerline is valid? [True, True] Translation: X:182.81, Y:-13.71, Z:-3.59 [[ 9.96027736e-01 8.84598029e-02 1.01790573e-02 1.82812173e+02] [-8.84534486e-02 9.96079733e-01 -1.07364450e-03 -1.37122739e+01] [-1.02341271e-02 1.69006978e-04 9.99947616e-01 -3.59214262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24241403699997 meters 0.0709436625093709 Centerline is valid? [True, True] Translation: X:182.87, Y:-13.72, Z:-3.60 [[ 9.96028018e-01 8.86092680e-02 8.75123242e-03 1.82869995e+02] [-8.86045796e-02 9.96066452e-01 -9.22764555e-04 -1.37239923e+01] [-8.79857452e-03 1.43700082e-04 9.99961281e-01 -3.59547759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30241403699998 meters 0.07101900592087688 Centerline is valid? [True, True] Translation: X:182.93, Y:-13.75, Z:-3.60 [[ 9.96106011e-01 8.79204668e-02 6.54260428e-03 1.82925982e+02] [-8.79178276e-02 9.96127491e-01 -6.90459417e-04 -1.37451822e+01] [-6.57797350e-03 1.12559221e-04 9.99978359e-01 -3.60124895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36241403699998 meters 0.07086034506755857 Centerline is valid? [True, True] Translation: X:182.98, Y:-13.76, Z:-3.60 [[ 9.96039383e-01 8.86322173e-02 7.06238211e-03 1.82982862e+02] [-8.86291666e-02 9.96064414e-01 -7.44390924e-04 -1.37591902e+01] [-7.10056452e-03 1.15509636e-04 9.99974784e-01 -3.60453433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42241403699998 meters 0.07029849378661863 Centerline is valid? [True, True] Translation: X:183.04, Y:-13.77, Z:-3.60 [[ 9.95748149e-01 9.18507303e-02 7.00477420e-03 1.83040669e+02] [-9.18478152e-02 9.95772783e-01 -7.37406716e-04 -1.37713753e+01] [-7.04289485e-03 9.08981665e-05 9.99975194e-01 -3.60205483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48241403699998 meters 0.07007556617520486 Centerline is valid? [True, True] Translation: X:183.10, Y:-13.79, Z:-3.60 [[ 9.95450499e-01 9.48811912e-02 8.70996656e-03 1.83098549e+02] [-9.48767988e-02 9.95488600e-01 -9.17046964e-04 -1.37869833e+01] [-8.75768292e-03 8.65011125e-05 9.99961647e-01 -3.60464438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542414037 meters 0.06980520837959518 Centerline is valid? [True, True] Translation: X:183.16, Y:-13.80, Z:-3.61 [[ 9.95086186e-01 9.85120069e-02 9.94315765e-03 1.83156241e+02] [-9.85064559e-02 9.95135860e-01 -1.04767289e-03 -1.38035981e+01] [-9.99800110e-03 6.30596010e-05 9.99950017e-01 -3.60759067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602414037 meters 0.06963750357845748 Centerline is valid? [True, True] Translation: X:183.21, Y:-13.82, Z:-3.61 [[ 9.94973567e-01 9.96021921e-02 1.03443111e-02 1.83212649e+02] [-9.95963071e-02 9.95027337e-01 -1.08379438e-03 -1.38172898e+01] [-1.04008206e-02 4.80915746e-05 9.99945909e-01 -3.60964596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662414037 meters 0.06975252374808678 Centerline is valid? [True, True] Translation: X:183.27, Y:-13.84, Z:-3.61 [[ 9.95102969e-01 9.82656202e-02 1.06746423e-02 1.83267923e+02] [-9.82592827e-02 9.95160220e-01 -1.11781544e-03 -1.38419666e+01] [-1.07328222e-02 6.34587752e-05 9.99942400e-01 -3.61245568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722414037 meters 0.0696736049417255 Centerline is valid? [True, True] Translation: X:183.33, Y:-13.86, Z:-3.62 [[ 9.95230812e-01 9.70533151e-02 9.81247011e-03 1.83325740e+02] [-9.70479173e-02 9.95279182e-01 -1.02588732e-03 -1.38550641e+01] [-9.86571298e-03 6.87148858e-05 9.99951330e-01 -3.61527501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782414037 meters 0.06971819160020745 Centerline is valid? [True, True] Translation: X:183.38, Y:-13.87, Z:-3.62 [[ 9.95552858e-01 9.35732230e-02 1.08884529e-02 1.83381202e+02] [-9.35663667e-02 9.95612394e-01 -1.13852032e-03 -1.38737019e+01] [-1.09472136e-02 1.14664188e-04 9.99940071e-01 -3.61932240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842414037 meters 0.06970328855436095 Centerline is valid? [True, True] Translation: X:183.44, Y:-13.90, Z:-3.62 [[ 9.96134497e-01 8.69393628e-02 1.25542903e-02 1.83437577e+02] [-8.69297624e-02 9.96213582e-01 -1.30942216e-03 -1.38991340e+01] [-1.26205949e-02 2.13019110e-04 9.99920334e-01 -3.62050859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902414037 meters 0.07034515451084117 Centerline is valid? [True, True] Translation: X:183.50, Y:-13.93, Z:-3.62 [[ 9.96812991e-01 7.91904590e-02 9.62978641e-03 1.83495413e+02] [-7.91844624e-02 9.96859476e-01 -1.00300177e-03 -1.39261266e+01] [-9.67897201e-03 2.37275731e-04 9.99953130e-01 -3.62322659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96241403699997 meters 0.07088030253654248 Centerline is valid? [True, True] Translation: X:183.55, Y:-13.94, Z:-3.63 [[ 9.97182443e-01 7.45169616e-02 8.62543424e-03 1.83553778e+02] [-7.45119727e-02 9.97219714e-01 -8.98756417e-04 -1.39434595e+01] [-8.66842567e-03 2.53525999e-04 9.99962396e-01 -3.62595132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02241403699998 meters 0.07133262519265873 Centerline is valid? [True, True] Translation: X:183.61, Y:-13.97, Z:-3.63 [[ 9.97514688e-01 6.98540005e-02 9.21231283e-03 1.83610461e+02] [-6.98481109e-02 9.97557176e-01 -9.59916782e-04 -1.39658639e+01] [-9.25686280e-03 3.14068441e-04 9.99957105e-01 -3.62642504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08241403699998 meters 0.07122563681931345 Centerline is valid? [True, True] Translation: X:183.67, Y:-13.98, Z:-3.63 [[ 9.97602353e-01 6.85412957e-02 9.57265238e-03 1.83668434e+02] [-6.85348841e-02 9.97648223e-01 -9.96601257e-04 -1.39805389e+01] [-9.61844798e-03 3.38151138e-04 9.99953684e-01 -3.62626942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14241403699998 meters 0.07064265935497452 Centerline is valid? [True, True] Translation: X:183.73, Y:-13.99, Z:-3.63 [[ 9.97487911e-01 6.98883384e-02 1.15536538e-02 1.83727056e+02] [-6.98790991e-02 9.97554744e-01 -1.20195702e-03 -1.39943476e+01] [-1.16094050e-02 3.91578674e-04 9.99932532e-01 -3.62564097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20241403699998 meters 0.07026921408245726 Centerline is valid? [True, True] Translation: X:183.79, Y:-14.01, Z:-3.63 [[ 9.97346536e-01 7.20301278e-02 1.05616676e-02 1.83785597e+02] [-7.20225297e-02 9.97402401e-01 -1.09848308e-03 -1.40051445e+01] [-1.06133565e-02 3.34890273e-04 9.99943621e-01 -3.62751650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26241403699999 meters 0.06978096405357549 Centerline is valid? [True, True] Translation: X:183.84, Y:-14.02, Z:-3.63 [[ 9.96867755e-01 7.80472179e-02 1.27793018e-02 1.83843438e+02] [-7.80365973e-02 9.96949610e-01 -1.32838528e-03 -1.40168656e+01] [-1.28439967e-02 3.26971222e-04 9.99917459e-01 -3.63031941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322414037 meters 0.06867779639443493 Centerline is valid? [True, True] Translation: X:183.90, Y:-14.02, Z:-3.63 [[ 9.96437206e-01 8.33056888e-02 1.31551070e-02 1.83903551e+02] [-8.32949030e-02 9.96524004e-01 -1.36663609e-03 -1.40196222e+01] [-1.32232285e-02 2.66013687e-04 9.99912534e-01 -3.62958097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382414037 meters 0.06819995908924645 Centerline is valid? [True, True] Translation: X:183.96, Y:-14.03, Z:-3.63 [[ 9.95797867e-01 9.10284270e-02 1.00216367e-02 1.83962406e+02] [-9.10225544e-02 9.95848287e-01 -1.04149906e-03 -1.40262147e+01] [-1.00748358e-02 1.24927572e-04 9.99949240e-01 -3.63255147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442414037 meters 0.06833079785663092 Centerline is valid? [True, True] Translation: X:184.02, Y:-14.04, Z:-3.64 [[ 9.95724745e-01 9.18045120e-02 1.02060798e-02 1.84019213e+02] [-9.17984534e-02 9.95777042e-01 -1.06150371e-03 -1.40375627e+01] [-1.02604308e-02 1.20063165e-04 9.99947353e-01 -3.63635984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502414037 meters 0.06845333414149848 Centerline is valid? [True, True] Translation: X:184.08, Y:-14.05, Z:-3.64 [[ 9.95902446e-01 8.97396077e-02 1.11857366e-02 1.84075412e+02] [-8.97322130e-02 9.95965250e-01 -1.16223080e-03 -1.40512809e+01] [-1.12449030e-02 1.53747604e-04 9.99936762e-01 -3.63836949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562414037 meters 0.06848412956736384 Centerline is valid? [True, True] Translation: X:184.13, Y:-14.07, Z:-3.64 [[ 9.96127114e-01 8.73138123e-02 1.03475193e-02 1.84133887e+02] [-8.73073751e-02 9.96180842e-01 -1.07306495e-03 -1.40653831e+01] [-1.04016938e-02 1.65494348e-04 9.99945887e-01 -3.63917797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622414037 meters 0.06897007550001982 Centerline is valid? [True, True] Translation: X:184.19, Y:-14.08, Z:-3.64 [[ 9.96462411e-01 8.36108411e-02 8.47889272e-03 1.84192091e+02] [-8.36063894e-02 9.96498469e-01 -8.78758825e-04 -1.40823483e+01] [-8.52267738e-03 1.66760531e-04 9.99963667e-01 -3.64226914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682414037 meters 0.06903776488886963 Centerline is valid? [True, True] Translation: X:184.25, Y:-14.09, Z:-3.64 [[ 9.96701883e-01 8.09191845e-02 6.11892951e-03 1.84251513e+02] [-8.09168148e-02 9.96720656e-01 -6.34249237e-04 -1.40930046e+01] [-6.15018637e-03 1.37033123e-04 9.99981078e-01 -3.64261612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74241403699997 meters 0.0700207719695012 Centerline is valid? [True, True] Translation: X:184.31, Y:-14.11, Z:-3.65 [[ 9.96821579e-01 7.94953156e-02 5.21864064e-03 1.84309138e+02] [-7.94935699e-02 9.96835232e-01 -5.41421260e-04 -1.41088423e+01] [-5.24516531e-03 1.24852021e-04 9.99986236e-01 -3.64805352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80241403699998 meters 0.06917905056715538 Centerline is valid? [True, True] Translation: X:184.37, Y:-14.12, Z:-3.64 [[ 9.97056708e-01 7.59725175e-02 1.03004100e-02 1.84367851e+02] [-7.59655442e-02 9.97109872e-01 -1.06713137e-03 -1.41196048e+01] [-1.03517131e-02 2.81514241e-04 9.99946380e-01 -3.64213625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86241403699998 meters 0.06946038260111084 Centerline is valid? [True, True] Translation: X:184.43, Y:-14.13, Z:-3.64 [[ 9.97392192e-01 7.10710669e-02 1.25585773e-02 1.84428356e+02] [-7.10603402e-02 9.97471173e-01 -1.29886470e-03 -1.41309355e+01] [-1.26191305e-02 4.03060736e-04 9.99920294e-01 -3.64248821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92241403699998 meters 0.07090312667837406 Centerline is valid? [True, True] Translation: X:184.49, Y:-14.15, Z:-3.65 [[ 9.97963361e-01 6.31067445e-02 9.30958509e-03 1.84487303e+02] [-6.31004978e-02 9.98006713e-01 -9.63496010e-04 -1.41494732e+01] [-9.35183151e-03 3.74094263e-04 9.99956201e-01 -3.64730716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98241403699998 meters 0.0721408048710949 Centerline is valid? [True, True] Translation: X:184.55, Y:-14.16, Z:-3.65 [[ 9.98417169e-01 5.56019633e-02 8.46035622e-03 1.84546540e+02] [-5.55965345e-02 9.98452933e-01 -8.75696552e-04 -1.41646706e+01] [-8.49595793e-03 4.03943987e-04 9.99963827e-01 -3.64983492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042414037 meters 0.07267459076969875 Centerline is valid? [True, True] Translation: X:184.61, Y:-14.17, Z:-3.65 [[ 9.98568232e-01 5.27055893e-02 9.14365118e-03 1.84607055e+02] [-5.26991323e-02 9.98609987e-01 -9.45840914e-04 -1.41741368e+01] [-9.18079249e-03 4.62624206e-04 9.99957749e-01 -3.65049002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102414037 meters 0.07403173078428998 Centerline is valid? [True, True] Translation: X:184.67, Y:-14.18, Z:-3.65 [[ 9.98791484e-01 4.86558956e-02 6.94082014e-03 1.84666553e+02] [-4.86520718e-02 9.98815528e-01 -7.18799416e-04 -1.41841100e+01] [-6.96757276e-03 3.80245456e-04 9.99975654e-01 -3.65294506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162414037 meters 0.07580361031492554 Centerline is valid? [True, True] Translation: X:184.73, Y:-14.19, Z:-3.66 [[ 9.99005747e-01 4.40590812e-02 6.80550756e-03 1.84725056e+02] [-4.40552953e-02 9.99028845e-01 -7.05283520e-04 -1.41938964e+01] [-6.82997250e-03 4.04763644e-04 9.99976594e-01 -3.65671232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222414037 meters 0.0760494730891043 Centerline is valid? [True, True] Translation: X:184.79, Y:-14.20, Z:-3.66 [[ 9.99278821e-01 3.74514035e-02 6.26344917e-03 1.84785358e+02] [-3.74480686e-02 9.99298364e-01 -6.48899830e-04 -1.41986782e+01] [-6.28335672e-03 4.13877783e-04 9.99980174e-01 -3.65795748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282414037 meters 0.07864312088915483 Centerline is valid? [True, True] Translation: X:184.85, Y:-14.20, Z:-3.66 [[ 9.99514042e-01 3.06252634e-02 5.81151727e-03 1.84845691e+02] [-3.06222793e-02 9.99530847e-01 -6.01786988e-04 -1.42046141e+01] [-5.82722066e-03 4.23532640e-04 9.99982932e-01 -3.66225958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342414037 meters 0.08131252171535942 Centerline is valid? [True, True] Translation: X:184.91, Y:-14.21, Z:-3.67 [[ 9.99651821e-01 2.57323452e-02 5.83803578e-03 1.84905289e+02] [-2.57292524e-02 9.99668765e-01 -6.04270743e-04 -1.42113353e+01] [-5.85165132e-03 4.53852053e-04 9.99982776e-01 -3.66627596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402414037 meters 0.08481871026177414 Centerline is valid? [True, True] Translation: X:184.96, Y:-14.22, Z:-3.67 [[ 9.99771256e-01 1.96078242e-02 8.54220715e-03 1.84964447e+02] [-1.96009707e-02 9.99807491e-01 -8.85307684e-04 -1.42161756e+01] [-8.55792165e-03 7.17669623e-04 9.99963123e-01 -3.66720709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46241403699997 meters 0.08181993966565052 Centerline is valid? [True, True] Translation: X:185.03, Y:-14.21, Z:-3.67 [[ 9.99827051e-01 1.58965072e-02 9.65237199e-03 1.85026108e+02] [-1.58875950e-02 9.99873285e-01 -9.99297220e-04 -1.42067963e+01] [-9.66703422e-03 8.45771416e-04 9.99952915e-01 -3.66690418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52241403699998 meters 0.08560924536699552 Centerline is valid? [True, True] Translation: X:185.09, Y:-14.20, Z:-3.67 [[ 9.99855160e-01 1.35308482e-02 1.03235625e-02 1.85086884e+02] [-1.35205313e-02 9.99908023e-01 -1.06850006e-03 -1.42034196e+01] [-1.03370706e-02 9.28765249e-04 9.99946140e-01 -3.67298851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58241403699998 meters 0.08323569659035052 Centerline is valid? [True, True] Translation: X:185.15, Y:-14.19, Z:-3.68 [[ 9.99834850e-01 1.42394822e-02 1.12920280e-02 1.85150362e+02] [-1.42272404e-02 9.99898111e-01 -1.16369976e-03 -1.41949592e+01] [-1.13074480e-02 1.00285318e-03 9.99935566e-01 -3.67560730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64241403699998 meters 0.08603030488196627 Centerline is valid? [True, True] Translation: X:185.21, Y:-14.20, Z:-3.68 [[ 9.99829857e-01 1.38508953e-02 1.21823581e-02 1.85211489e+02] [-1.38365666e-02 9.99903477e-01 -1.25969134e-03 -1.41985282e+01] [-1.21986300e-02 1.09091500e-03 9.99924999e-01 -3.68004861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70241403699998 meters 0.0851113875278746 Centerline is valid? [True, True] Translation: X:185.27, Y:-14.19, Z:-3.68 [[ 9.99883108e-01 1.21490070e-02 9.28286088e-03 1.85273750e+02] [-1.21405674e-02 9.99925835e-01 -9.64969241e-04 -1.41931105e+01] [-9.29389584e-03 8.52157246e-04 9.99956448e-01 -3.68437976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76241403699999 meters 0.08917278767209788 Centerline is valid? [True, True] Translation: X:185.33, Y:-14.19, Z:-3.69 [[ 9.99931125e-01 9.73363641e-03 6.55757428e-03 1.85333460e+02] [-9.72936522e-03 9.99952435e-01 -6.82923325e-04 -1.41887020e+01] [-6.56390970e-03 6.19075253e-04 9.99978266e-01 -3.69208265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822414037 meters 0.08861287130808652 Centerline is valid? [True, True] Translation: X:185.40, Y:-14.18, Z:-3.69 [[ 9.99930211e-01 9.47541102e-03 7.05616426e-03 1.85396751e+02] [-9.47050941e-03 9.99954889e-01 -7.27747198e-04 -1.41839317e+01] [-7.06274166e-03 6.60870940e-04 9.99974840e-01 -3.69390054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882414037 meters 0.08873691222913924 Centerline is valid? [True, True] Translation: X:185.46, Y:-14.18, Z:-3.69 [[ 9.99907510e-01 1.03118805e-02 8.86771270e-03 1.85459677e+02] [-1.03040961e-02 9.99946485e-01 -9.23082565e-04 -1.41765098e+01] [-8.87675687e-03 8.31623426e-04 9.99960255e-01 -3.69359906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942414037 meters 0.08867344101369669 Centerline is valid? [True, True] Translation: X:185.52, Y:-14.17, Z:-3.70 [[ 9.99926585e-01 8.80985511e-03 8.31930605e-03 1.85522276e+02] [-8.80293933e-03 9.99960877e-01 -8.67545207e-04 -1.41658857e+01] [-8.32662352e-03 7.94247170e-04 9.99965018e-01 -3.69651120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002414037 meters 0.08832059289611478 Centerline is valid? [True, True] Translation: X:185.59, Y:-14.16, Z:-3.70 [[ 9.99938625e-01 7.80192602e-03 7.86610833e-03 1.85585117e+02] [-7.79571788e-03 9.99969277e-01 -8.19579132e-04 -1.41624165e+01] [-7.87226095e-03 7.58206869e-04 9.99968726e-01 -3.69806630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062414037 meters 0.08717055558928989 Centerline is valid? [True, True] Translation: X:185.65, Y:-14.15, Z:-3.70 [[ 9.99942142e-01 8.75100106e-03 6.25553782e-03 1.85649247e+02] [-8.74709692e-03 9.99961531e-01 -6.51197527e-04 -1.41512440e+01] [-6.26099581e-03 5.96442055e-04 9.99980222e-01 -3.70057140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122414037 meters 0.08739117462213872 Centerline is valid? [True, True] Translation: X:185.71, Y:-14.14, Z:-3.70 [[ 9.99905426e-01 1.23796301e-02 5.99029173e-03 1.85710951e+02] [-1.23760971e-02 9.99923217e-01 -6.26501305e-04 -1.41439390e+01] [-5.99758763e-03 5.52305622e-04 9.99981862e-01 -3.70205256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182414037 meters 0.08724933727144527 Centerline is valid? [True, True] Translation: X:185.77, Y:-14.14, Z:-3.70 [[ 9.99869022e-01 1.52109503e-02 5.52860662e-03 1.85772572e+02] [-1.52079852e-02 9.99884185e-01 -5.77966323e-04 -1.41417740e+01] [-5.53675774e-03 4.93811655e-04 9.99984550e-01 -3.70426886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24241403699997 meters 0.08324749159901713 Centerline is valid? [True, True] Translation: X:185.84, Y:-14.13, Z:-3.71 [[ 9.99777936e-01 2.08629638e-02 2.96922114e-03 1.85835399e+02] [-2.08621342e-02 9.99782314e-01 -3.10097091e-04 -1.41277874e+01] [-2.97504433e-03 2.48083939e-04 9.99995544e-01 -3.70519942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30241403699998 meters 0.0822538946930952 Centerline is valid? [True, True] Translation: X:185.90, Y:-14.13, Z:-3.71 [[ 9.99703147e-01 2.42435656e-02 2.42230224e-03 1.85895849e+02] [-2.42430207e-02 9.99706062e-01 -2.54066918e-04 -1.41252334e+01] [-2.42774972e-03 1.95267575e-04 9.99997034e-01 -3.70782598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36241403699998 meters 0.08174909132702182 Centerline is valid? [True, True] Translation: X:185.96, Y:-14.12, Z:-3.71 [[ 9.99652696e-01 2.61726499e-02 3.07895758e-03 1.85956202e+02] [-2.61717781e-02 9.99657408e-01 -3.23098316e-04 -1.41195495e+01] [-3.08635909e-03 2.42404308e-04 9.99995208e-01 -3.70942072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42241403699998 meters 0.08119370768476486 Centerline is valid? [True, True] Translation: X:186.02, Y:-14.12, Z:-3.71 [[ 9.99718022e-01 2.35905664e-02 2.71322469e-03 1.86017192e+02] [-2.35898813e-02 9.99721680e-01 -2.84229453e-04 -1.41152857e+01] [-2.71917468e-03 2.20144658e-04 9.99996279e-01 -3.70959774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48241403699998 meters 0.08336685524697832 Centerline is valid? [True, True] Translation: X:186.08, Y:-14.12, Z:-3.71 [[ 9.99818542e-01 1.89903185e-02 1.49996846e-03 1.86076578e+02] [-1.89901037e-02 9.99819659e-01 -1.57316360e-04 -1.41226666e+01] [-1.50268544e-03 1.28803257e-04 9.99998863e-01 -3.71251572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542414037 meters 0.08514327871019763 Centerline is valid? [True, True] Translation: X:186.14, Y:-14.13, Z:-3.71 [[ 9.99933889e-01 1.14432760e-02 1.12645264e-03 1.86137012e+02] [-1.14431507e-02 9.99934518e-01 -1.17649827e-04 -1.41266447e+01] [-1.12772517e-03 1.04751882e-04 9.99999359e-01 -3.71344096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602414037 meters 0.0874524752256059 Centerline is valid? [True, True] Translation: X:186.20, Y:-14.13, Z:-3.72 [[ 9.99964459e-01 8.43073364e-03 -5.79324738e-05 1.86196796e+02] [-8.43073331e-03 9.99964461e-01 6.00881612e-06 -1.41308360e+01] [ 5.79810736e-05 -5.52018932e-06 9.99999998e-01 -3.71542837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662414037 meters 0.0866948890219437 Centerline is valid? [True, True] Translation: X:186.26, Y:-14.13, Z:-3.72 [[ 9.99948264e-01 1.01270604e-02 -9.54989761e-04 1.86257643e+02] [-1.01269712e-02 9.99948716e-01 9.82207314e-05 -1.41273377e+01] [ 9.55935472e-04 -8.85444960e-05 9.99999539e-01 -3.71880737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722414037 meters 0.08571183501023115 Centerline is valid? [True, True] Translation: X:186.32, Y:-14.13, Z:-3.72 [[ 9.99920638e-01 1.25976367e-02 1.30303644e-04 1.86318780e+02] [-1.25976350e-02 9.99920647e-01 -1.38053582e-05 -1.41254685e+01] [-1.30467219e-04 1.21627449e-05 9.99999991e-01 -3.72007851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782414037 meters 0.08375373838204284 Centerline is valid? [True, True] Translation: X:186.38, Y:-14.12, Z:-3.72 [[ 9.99810705e-01 1.92909505e-02 2.53228642e-03 1.86380679e+02] [-1.92903430e-02 9.99813889e-01 -2.64122766e-04 -1.41174148e+01] [-2.53691031e-03 2.15224096e-04 9.99996759e-01 -3.71998878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842414037 meters 0.08323013402061955 Centerline is valid? [True, True] Translation: X:186.44, Y:-14.11, Z:-3.72 [[ 9.99691945e-01 2.48151383e-02 4.74020085e-04 1.86441508e+02] [-2.48151174e-02 9.99692056e-01 -4.98968858e-05 -1.41141746e+01] [-4.75112312e-04 3.81186507e-05 9.99999886e-01 -3.72470472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902414037 meters 0.08222771630970387 Centerline is valid? [True, True] Translation: X:186.50, Y:-14.11, Z:-3.73 [[ 9.99644766e-01 2.66070064e-02 1.55229903e-03 1.86501389e+02] [-2.66067847e-02 9.99645963e-01 -1.63302332e-04 -1.41144211e+01] [-1.55609444e-03 1.21942636e-04 9.99998782e-01 -3.72603252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96241403699997 meters 0.08124968235353751 Centerline is valid? [True, True] Translation: X:186.56, Y:-14.11, Z:-3.73 [[ 9.99666274e-01 2.58323320e-02 -1.74738348e-04 1.86561288e+02] [-2.58323297e-02 9.99666290e-01 1.57942963e-05 -1.41118888e+01] [ 1.75088039e-04 -1.12751268e-05 9.99999985e-01 -3.72821189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02241403699998 meters 0.08232567480005175 Centerline is valid? [True, True] Translation: X:186.62, Y:-14.12, Z:-3.73 [[ 9.99723753e-01 2.34781032e-02 -1.09356590e-03 1.86620561e+02] [-2.34779930e-02 9.99724347e-01 1.13499995e-04 -1.41181893e+01] [ 1.09592922e-03 -8.77939088e-05 9.99999396e-01 -3.73302828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08241403699998 meters 0.08634367879521522 Centerline is valid? [True, True] Translation: X:186.68, Y:-14.13, Z:-3.74 [[ 9.99764630e-01 2.16193587e-02 -1.81327829e-03 1.86678402e+02] [-2.16190515e-02 9.99766263e-01 1.88866723e-04 -1.41306541e+01] [ 1.81693764e-03 -1.49620912e-04 9.99998338e-01 -3.73814576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14241403699998 meters 0.08675031314943356 Centerline is valid? [True, True] Translation: X:186.74, Y:-14.13, Z:-3.74 [[ 9.99802483e-01 1.97761826e-02 -1.97405130e-03 1.86739017e+02] [-1.97758142e-02 9.99804418e-01 2.05958558e-04 -1.41313663e+01] [ 1.97773828e-03 -1.66879406e-04 9.99998030e-01 -3.73972444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20241403699998 meters 0.08500833866921727 Centerline is valid? [True, True] Translation: X:186.80, Y:-14.13, Z:-3.74 [[ 9.99822075e-01 1.87906827e-02 -1.65159039e-03 1.86798967e+02] [-1.87904277e-02 9.99823430e-01 1.69817617e-04 -1.41266628e+01] [ 1.65448975e-03 -1.38753313e-04 9.99998622e-01 -3.74069470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26241403699999 meters 0.08586403745555685 Centerline is valid? [True, True] Translation: X:186.86, Y:-14.13, Z:-3.74 [[ 9.99821985e-01 1.88542664e-02 7.17827731e-04 1.86857556e+02] [-1.88542158e-02 9.99822240e-01 -7.71453968e-05 -1.41313607e+01] [-7.19154650e-04 6.35975848e-05 9.99999739e-01 -3.74207193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322414037 meters 0.08690789559106665 Centerline is valid? [True, True] Translation: X:186.92, Y:-14.13, Z:-3.74 [[ 9.99807289e-01 1.95527761e-02 1.75308592e-03 1.86915445e+02] [-1.95524809e-02 9.99808815e-01 -1.85405099e-04 -1.41329258e+01] [-1.75637594e-03 1.51092190e-04 9.99998446e-01 -3.74377153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382414037 meters 0.08656052580161044 Centerline is valid? [True, True] Translation: X:186.97, Y:-14.13, Z:-3.75 [[ 9.99778778e-01 2.08871439e-02 2.47430468e-03 1.86974999e+02] [-2.08865673e-02 9.99781818e-01 -2.58658245e-04 -1.41347811e+01] [-2.47916747e-03 2.06921293e-04 9.99996905e-01 -3.74642702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442414037 meters 0.0867385563371133 Centerline is valid? [True, True] Translation: X:187.03, Y:-14.14, Z:-3.75 [[ 9.99771712e-01 2.13060173e-02 1.60571009e-03 1.87034234e+02] [-2.13057727e-02 9.99772992e-01 -1.69293040e-04 -1.41374801e+01] [-1.60895254e-03 1.35043498e-04 9.99998697e-01 -3.74958717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502414037 meters 0.08422021293186531 Centerline is valid? [True, True] Translation: X:187.09, Y:-14.13, Z:-3.75 [[ 9.99793037e-01 2.03097362e-02 1.18225968e-03 1.87094469e+02] [-2.03096035e-02 9.99793731e-01 -1.24112557e-04 -1.41345301e+01] [-1.18453651e-03 1.00075645e-04 9.99999293e-01 -3.75076906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562414037 meters 0.08507315794454852 Centerline is valid? [True, True] Translation: X:187.15, Y:-14.14, Z:-3.75 [[ 9.99804579e-01 1.97407223e-02 1.05273836e-03 1.87152622e+02] [-1.97406155e-02 9.99805129e-01 -1.11744924e-04 -1.41406171e+01] [-1.05473914e-03 9.09413832e-05 9.99999440e-01 -3.75366647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622414037 meters 0.08548826977496302 Centerline is valid? [True, True] Translation: X:187.21, Y:-14.14, Z:-3.76 [[ 9.99799781e-01 1.98435884e-02 2.57499337e-03 1.87211091e+02] [-1.98429591e-02 9.99803073e-01 -2.69710356e-04 -1.41448590e+01] [-2.57983830e-03 2.18560867e-04 9.99996648e-01 -3.75553211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682414037 meters 0.08626574672643617 Centerline is valid? [True, True] Translation: X:187.27, Y:-14.15, Z:-3.76 [[ 9.99783391e-01 2.05223283e-02 3.46490545e-03 1.87269653e+02] [-2.05211966e-02 9.99789353e-01 -3.61842870e-04 -1.41470334e+01] [-3.47160143e-03 2.90660485e-04 9.99993932e-01 -3.75840462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74241403699997 meters 0.0893641831654537 Centerline is valid? [True, True] Translation: X:187.33, Y:-14.15, Z:-3.76 [[ 9.99830288e-01 1.80524117e-02 3.67493984e-03 1.87328026e+02] [-1.80511275e-02 9.99836992e-01 -3.82333679e-04 -1.41544779e+01] [-3.68124284e-03 3.15931985e-04 9.99993174e-01 -3.76310395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80241403699998 meters 0.08888864834965489 Centerline is valid? [True, True] Translation: X:187.39, Y:-14.16, Z:-3.76 [[ 9.99891855e-01 1.42704911e-02 3.55411927e-03 1.87388725e+02] [-1.42692702e-02 9.99898121e-01 -3.68638347e-04 -1.41573567e+01] [-3.55901783e-03 3.17883792e-04 9.99993616e-01 -3.76458896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86241403699998 meters 0.08841040439617705 Centerline is valid? [True, True] Translation: X:187.45, Y:-14.16, Z:-3.77 [[ 9.99939768e-01 9.21707675e-03 5.95867465e-03 1.87448745e+02] [-9.21355407e-03 9.99957363e-01 -6.18366402e-04 -1.41607810e+01] [-5.96412012e-03 5.63428586e-04 9.99982056e-01 -3.76552243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92241403699998 meters 0.09230762396411135 Centerline is valid? [True, True] Translation: X:187.51, Y:-14.17, Z:-3.77 [[ 9.99952866e-01 7.30000205e-03 6.40126267e-03 1.87507703e+02] [-7.29591377e-03 9.99973165e-01 -6.61787512e-04 -1.41709972e+01] [-6.40592195e-03 6.15053259e-04 9.99979293e-01 -3.76961914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98241403699998 meters 0.09348471626216878 Centerline is valid? [True, True] Translation: X:187.57, Y:-14.17, Z:-3.77 [[ 9.99943931e-01 9.06581973e-03 5.47230859e-03 1.87567542e+02] [-9.06284582e-03 9.99958770e-01 -5.67999810e-04 -1.41732971e+01] [-5.47723235e-03 5.18373274e-04 9.99984865e-01 -3.77336348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042414037 meters 0.08903261179336643 Centerline is valid? [True, True] Translation: X:187.63, Y:-14.17, Z:-3.77 [[ 9.99909002e-01 1.12718302e-02 7.41177926e-03 1.87628748e+02] [-1.12664341e-02 9.99936236e-01 -7.69391382e-04 -1.41676648e+01] [-7.41997910e-03 6.85817046e-04 9.99972236e-01 -3.77289612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102414037 meters 0.08658521755805039 Centerline is valid? [True, True] Translation: X:187.69, Y:-14.17, Z:-3.77 [[ 9.99861976e-01 1.35110927e-02 9.66850005e-03 1.87689681e+02] [-1.35020146e-02 9.99908340e-01 -1.00359275e-03 -1.41658829e+01] [-9.68117347e-03 8.72910004e-04 9.99952755e-01 -3.77225487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162414037 meters 0.0905806350177198 Centerline is valid? [True, True] Translation: X:187.75, Y:-14.18, Z:-3.78 [[ 9.99845333e-01 1.53211862e-02 8.63541458e-03 1.87748981e+02] [-1.53140124e-02 9.99882332e-01 -8.96259607e-04 -1.41753562e+01] [-8.64813023e-03 7.63878139e-04 9.99962312e-01 -3.77870146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222414037 meters 0.08785809487551835 Centerline is valid? [True, True] Translation: X:187.81, Y:-14.17, Z:-3.78 [[ 9.99850565e-01 1.57231525e-02 7.18534598e-03 1.87809408e+02] [-1.57181895e-02 9.99876183e-01 -7.46676732e-04 -1.41742309e+01] [-7.19619642e-03 6.33624523e-04 9.99973906e-01 -3.78090102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282414037 meters 0.08832182042314052 Centerline is valid? [True, True] Translation: X:187.87, Y:-14.18, Z:-3.78 [[ 9.99869238e-01 1.45893470e-02 6.97553264e-03 1.87868817e+02] [-1.45846404e-02 9.99893376e-01 -7.25129943e-04 -1.41761172e+01] [-6.98536805e-03 6.23299489e-04 9.99975408e-01 -3.78351988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342414037 meters 0.08904372291269869 Centerline is valid? [True, True] Translation: X:187.93, Y:-14.18, Z:-3.79 [[ 9.99895805e-01 1.31426042e-02 5.97078476e-03 1.87929361e+02] [-1.31391392e-02 9.99913486e-01 -6.19184776e-04 -1.41792010e+01] [-5.97840591e-03 5.40669288e-04 9.99981983e-01 -3.78600968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402414037 meters 0.09411628485143156 Centerline is valid? [True, True] Translation: X:187.99, Y:-14.19, Z:-3.79 [[ 9.99940374e-01 7.81373579e-03 7.62856124e-03 1.87987270e+02] [-7.80792732e-03 9.99969205e-01 -7.90896887e-04 -1.41908656e+01] [-7.63450617e-03 7.31286477e-04 9.99970589e-01 -3.79006529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46241403699997 meters 0.09034034323646505 Centerline is valid? [True, True] Translation: X:188.05, Y:-14.19, Z:-3.79 [[ 9.99936841e-01 5.79518734e-03 9.62967380e-03 1.88049819e+02] [-5.78584397e-03 9.99982764e-01 -9.97843846e-04 -1.41859329e+01] [-9.63529051e-03 9.42065033e-04 9.99953136e-01 -3.78857590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52241403699998 meters 0.09425955177881666 Centerline is valid? [True, True] Translation: X:188.11, Y:-14.19, Z:-3.79 [[ 9.99925557e-01 6.21559698e-03 1.04998184e-02 1.88111511e+02] [-6.20455740e-03 9.99980164e-01 -1.08365405e-03 -1.41896588e+01] [-1.05063457e-02 1.01842666e-03 9.99944288e-01 -3.78992313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58241403699998 meters 0.09276329168654783 Centerline is valid? [True, True] Translation: X:188.17, Y:-14.19, Z:-3.79 [[ 9.99922287e-01 8.25952350e-03 9.33814283e-03 1.88173188e+02] [-8.25081564e-03 9.99965490e-01 -9.70645206e-04 -1.41864929e+01] [-9.34583764e-03 8.93522479e-04 9.99955927e-01 -3.79258452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64241403699998 meters 0.08994720641215874 Centerline is valid? [True, True] Translation: X:188.24, Y:-14.18, Z:-3.79 [[ 9.99906427e-01 9.90226378e-03 9.43833933e-03 1.88235072e+02] [-9.89344292e-03 9.99950578e-01 -9.80811089e-04 -1.41847328e+01] [-9.44758512e-03 8.87341640e-04 9.99954977e-01 -3.79469756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70241403699998 meters 0.09043407277523532 Centerline is valid? [True, True] Translation: X:188.30, Y:-14.18, Z:-3.80 [[ 9.99889399e-01 1.12718121e-02 9.70235404e-03 1.88296353e+02] [-1.12625473e-02 9.99936066e-01 -1.00901790e-03 -1.41848882e+01] [-9.71310720e-03 8.99633076e-04 9.99952422e-01 -3.79583802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76241403699999 meters 0.09112761670804417 Centerline is valid? [True, True] Translation: X:188.36, Y:-14.19, Z:-3.80 [[ 9.99886986e-01 1.24703165e-02 8.39679196e-03 1.88356384e+02] [-1.24634151e-02 9.99921947e-01 -8.73745390e-04 -1.41886897e+01] [-8.40703245e-03 7.68993941e-04 9.99964365e-01 -3.79831723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822414037 meters 0.09089242863789702 Centerline is valid? [True, True] Translation: X:188.42, Y:-14.19, Z:-3.80 [[ 9.99884825e-01 1.32815956e-02 7.34411466e-03 1.88416150e+02] [-1.32763313e-02 9.99911573e-01 -7.65102315e-04 -1.41909597e+01] [-7.35362702e-03 6.67511295e-04 9.99972739e-01 -3.80176455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882414037 meters 0.09166300781235108 Centerline is valid? [True, True] Translation: X:188.48, Y:-14.20, Z:-3.80 [[ 9.99902006e-01 1.27876005e-02 5.69695955e-03 1.88475901e+02] [-1.27844245e-02 9.99918100e-01 -5.93561609e-04 -1.41961061e+01] [-5.70408320e-03 5.20671095e-04 9.99983596e-01 -3.80412533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942414037 meters 0.09017947140037451 Centerline is valid? [True, True] Translation: X:188.54, Y:-14.20, Z:-3.80 [[ 9.99893375e-01 1.18114738e-02 8.58647699e-03 1.88535300e+02] [-1.18042230e-02 9.99929928e-01 -8.94632944e-04 -1.41960076e+01] [-8.59644225e-03 7.93180864e-04 9.99962735e-01 -3.80344357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002414037 meters 0.09065718084910657 Centerline is valid? [True, True] Translation: X:188.60, Y:-14.20, Z:-3.81 [[ 9.99871811e-01 1.38126628e-02 8.09764607e-03 1.88595240e+02] [-1.38062934e-02 9.99904334e-01 -8.41946410e-04 -1.42006596e+01] [-8.10850092e-03 7.30040004e-04 9.99966859e-01 -3.80590630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062414037 meters 0.09314747393156816 Centerline is valid? [True, True] Translation: X:188.65, Y:-14.21, Z:-3.81 [[ 9.99873063e-01 1.51090979e-02 5.05705963e-03 1.88652987e+02] [-1.51066224e-02 9.99885749e-01 -5.27359765e-04 -1.42067851e+01] [-5.06444979e-03 4.50897733e-04 9.99987074e-01 -3.81271431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122414037 meters 0.09294580209665856 Centerline is valid? [True, True] Translation: X:188.71, Y:-14.21, Z:-3.81 [[ 9.99860783e-01 1.57208457e-02 5.59197232e-03 1.88711645e+02] [-1.57178318e-02 9.99876298e-01 -5.82508230e-04 -1.42090949e+01] [-5.60043810e-03 4.94533455e-04 9.99984195e-01 -3.81417783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182414037 meters 0.0905495590059052 Centerline is valid? [True, True] Translation: X:188.77, Y:-14.21, Z:-3.81 [[ 9.99850092e-01 1.64292944e-02 5.46543020e-03 1.88770954e+02] [-1.64264274e-02 9.99864915e-01 -5.69058783e-04 -1.42082037e+01] [-5.47404114e-03 4.79195984e-04 9.99984903e-01 -3.81346282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24241403699997 meters 0.09040617011854515 Centerline is valid? [True, True] Translation: X:188.83, Y:-14.21, Z:-3.82 [[ 9.99855804e-01 1.62673652e-02 4.87274476e-03 1.88829387e+02] [-1.62650847e-02 9.99867586e-01 -5.07279477e-04 -1.42116722e+01] [-4.88035164e-03 4.27950723e-04 9.99987999e-01 -3.81625056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30241403699998 meters 0.08931518101217745 Centerline is valid? [True, True] Translation: X:188.89, Y:-14.22, Z:-3.82 [[ 9.99865187e-01 1.52765140e-02 6.01959048e-03 1.88887717e+02] [-1.52730213e-02 9.99883165e-01 -6.25770424e-04 -1.42157085e+01] [-6.02844677e-03 5.33748728e-04 9.99981686e-01 -3.81729726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36241403699998 meters 0.09079229666956656 Centerline is valid? [True, True] Translation: X:188.94, Y:-14.22, Z:-3.82 [[ 9.99858677e-01 1.47662728e-02 8.03639963e-03 1.88944607e+02] [-1.47600377e-02 9.99890716e-01 -8.34612222e-04 -1.42239935e+01] [-8.04784549e-03 7.15876710e-04 9.99967359e-01 -3.81817079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42241403699998 meters 0.0911499886436393 Centerline is valid? [True, True] Translation: X:189.00, Y:-14.23, Z:-3.82 [[ 9.99867714e-01 1.43650799e-02 7.62888186e-03 1.89003587e+02] [-1.43594648e-02 9.99896585e-01 -7.90296907e-04 -1.42301328e+01] [-7.63944560e-03 6.80645700e-04 9.99970587e-01 -3.81986249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48241403699998 meters 0.09043826073694687 Centerline is valid? [True, True] Translation: X:189.06, Y:-14.23, Z:-3.82 [[ 9.99915186e-01 1.12432749e-02 6.57340416e-03 1.89064206e+02] [-1.12390457e-02 9.99936609e-01 -6.79972917e-04 -1.42339834e+01] [-6.58063259e-03 6.06036455e-04 9.99978164e-01 -3.82104453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542414037 meters 0.0943842940033247 Centerline is valid? [True, True] Translation: X:189.12, Y:-14.25, Z:-3.83 [[ 9.99943882e-01 8.43856092e-03 6.40500469e-03 1.89122238e+02] [-8.43448499e-03 9.99964209e-01 -6.63112251e-04 -1.42480743e+01] [-6.41037116e-03 6.09052122e-04 9.99979268e-01 -3.82566123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602414037 meters 0.09894852519101478 Centerline is valid? [True, True] Translation: X:189.18, Y:-14.26, Z:-3.83 [[ 9.99979183e-01 4.05670061e-03 5.01772828e-03 1.89181273e+02] [-4.05414879e-03 9.99991647e-01 -5.18627780e-04 -1.42611663e+01] [-5.01979029e-03 4.98274367e-04 9.99987277e-01 -3.82982278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662414037 meters 0.09559506111350345 Centerline is valid? [True, True] Translation: X:189.24, Y:-14.26, Z:-3.83 [[ 9.99989549e-01 2.98786606e-03 3.46049951e-03 1.89242895e+02] [-2.98664876e-03 9.99995476e-01 -3.56883564e-04 -1.42606224e+01] [-3.46155018e-03 3.46544538e-04 9.99993949e-01 -3.83051797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722414037 meters 0.09575233583508343 Centerline is valid? [True, True] Translation: X:189.30, Y:-14.26, Z:-3.83 [[ 9.99982298e-01 4.03849142e-03 4.36963136e-03 1.89303031e+02] [-4.03655397e-03 9.99991751e-01 -4.52120206e-04 -1.42645162e+01] [-4.37142120e-03 4.34473950e-04 9.99990351e-01 -3.83185617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782414037 meters 0.09674628482212023 Centerline is valid? [True, True] Translation: X:189.36, Y:-14.27, Z:-3.83 [[ 9.99958828e-01 7.66700144e-03 4.85382868e-03 1.89362146e+02] [-7.66465057e-03 9.99970500e-01 -5.02748957e-04 -1.42690144e+01] [-4.85754007e-03 4.65525357e-04 9.99988094e-01 -3.83366873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842414037 meters 0.09744790006706344 Centerline is valid? [True, True] Translation: X:189.42, Y:-14.28, Z:-3.84 [[ 9.99932008e-01 9.86739853e-03 6.21395393e-03 1.89421399e+02] [-9.86358921e-03 9.99951147e-01 -6.43376346e-04 -1.42766980e+01] [-6.21999881e-03 5.82040713e-04 9.99980486e-01 -3.83610612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902414037 meters 0.0924282017936729 Centerline is valid? [True, True] Translation: X:189.48, Y:-14.27, Z:-3.84 [[ 9.99888090e-01 1.30878255e-02 7.24678089e-03 1.89482342e+02] [-1.30827343e-02 9.99914136e-01 -7.49501796e-04 -1.42729776e+01] [-7.25596800e-03 6.54610210e-04 9.99973461e-01 -3.83508549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96241403699997 meters 0.08807286911697573 Centerline is valid? [True, True] Translation: X:189.54, Y:-14.27, Z:-3.83 [[ 9.99858995e-01 1.58019412e-02 5.68233760e-03 1.89543372e+02] [-1.57988515e-02 9.99875017e-01 -5.88227678e-04 -1.42684048e+01] [-5.69092255e-03 4.98370327e-04 9.99983682e-01 -3.83450339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02241403699998 meters 0.0930624899792367 Centerline is valid? [True, True] Translation: X:189.60, Y:-14.28, Z:-3.84 [[ 9.99814638e-01 1.88079555e-02 4.11699960e-03 1.89600388e+02] [-1.88063544e-02 9.99823054e-01 -4.27267363e-04 -1.42831486e+01] [-4.12430714e-03 3.49762410e-04 9.99991434e-01 -3.84390104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08241403699998 meters 0.09238341484363076 Centerline is valid? [True, True] Translation: X:189.66, Y:-14.29, Z:-3.85 [[ 9.99804971e-01 1.94057015e-02 3.66597929e-03 1.89659257e+02] [-1.94044344e-02 9.99811644e-01 -3.80890998e-04 -1.42875978e+01] [-3.67268023e-03 3.09680458e-04 9.99993208e-01 -3.84721980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14241403699998 meters 0.08650958743878291 Centerline is valid? [True, True] Translation: X:189.72, Y:-14.28, Z:-3.84 [[ 9.99734962e-01 2.21214105e-02 6.37559026e-03 1.89721194e+02] [-2.21176569e-02 9.99755158e-01 -6.58676120e-04 -1.42806132e+01] [-6.38860009e-03 5.17488429e-04 9.99979459e-01 -3.84198349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20241403699998 meters 0.0871886234424906 Centerline is valid? [True, True] Translation: X:189.78, Y:-14.29, Z:-3.84 [[ 9.99669679e-01 2.47131648e-02 7.05632665e-03 1.89780075e+02] [-2.47086273e-02 9.99694429e-01 -7.29506259e-04 -1.42858316e+01] [-7.07219885e-03 5.54913143e-04 9.99974838e-01 -3.84314121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26241403699999 meters 0.08718175597036484 Centerline is valid? [True, True] Translation: X:189.84, Y:-14.29, Z:-3.85 [[ 9.99667751e-01 2.53513784e-02 4.65789939e-03 1.89838875e+02] [-2.53494015e-02 9.99678536e-01 -4.82983042e-04 -1.42913769e+01] [-4.66864633e-03 3.64747609e-04 9.99989035e-01 -3.84858292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322414037 meters 0.09072338772624215 Centerline is valid? [True, True] Translation: X:189.90, Y:-14.31, Z:-3.85 [[ 9.99743028e-01 2.20194090e-02 5.38729272e-03 1.89897315e+02] [-2.20167271e-02 9.99757448e-01 -5.56613145e-04 -1.43062583e+01] [-5.39824231e-03 4.37859557e-04 9.99985334e-01 -3.85352178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382414037 meters 0.08785640120454503 Centerline is valid? [True, True] Translation: X:189.96, Y:-14.31, Z:-3.85 [[ 9.99760615e-01 2.10777155e-02 5.86879174e-03 1.89956429e+02] [-2.10745102e-02 9.99777723e-01 -6.07473238e-04 -1.43055536e+01] [-5.88029139e-03 4.83645906e-04 9.99982594e-01 -3.85203176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442414037 meters 0.08792975351642582 Centerline is valid? [True, True] Translation: X:190.01, Y:-14.31, Z:-3.85 [[ 9.99768612e-01 2.05034022e-02 6.50634164e-03 1.90014700e+02] [-2.04994551e-02 9.99789638e-01 -6.72769140e-04 -1.43099032e+01] [-6.51876701e-03 5.39237012e-04 9.99978607e-01 -3.85463535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502414037 meters 0.08817451731524156 Centerline is valid? [True, True] Translation: X:190.07, Y:-14.32, Z:-3.85 [[ 9.99753043e-01 2.03889231e-02 8.83998982e-03 1.90073348e+02] [-2.03816449e-02 9.99791856e-01 -9.12640552e-04 -1.43172739e+01] [-8.85675759e-03 7.32241635e-04 9.99960510e-01 -3.85493854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562414037 meters 0.08662521313325472 Centerline is valid? [True, True] Translation: X:190.13, Y:-14.32, Z:-3.85 [[ 9.99703504e-01 2.04989474e-02 1.31414543e-02 1.90131958e+02] [-2.04828983e-02 9.99789286e-01 -1.35470236e-03 -1.43208119e+01] [-1.31664552e-02 1.08512563e-03 9.99912730e-01 -3.85208687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622414037 meters 0.08794678158165851 Centerline is valid? [True, True] Translation: X:190.19, Y:-14.33, Z:-3.86 [[ 9.99756682e-01 1.93559532e-02 1.05794241e-02 1.90191282e+02] [-1.93455043e-02 9.99812265e-01 -1.08911040e-03 -1.43312916e+01] [-1.05985188e-02 8.84181100e-04 9.99943443e-01 -3.85707954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682414037 meters 0.0897549960300478 Centerline is valid? [True, True] Translation: X:190.25, Y:-14.34, Z:-3.86 [[ 9.99783613e-01 1.87484517e-02 9.01236063e-03 1.90249813e+02] [-1.87408415e-02 9.99823944e-01 -9.28130840e-04 -1.43440883e+01] [-9.02817497e-03 7.59030782e-04 9.99958957e-01 -3.86162337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74241403699997 meters 0.08636228478463069 Centerline is valid? [True, True] Translation: X:190.31, Y:-14.34, Z:-3.86 [[ 9.99696751e-01 2.35034927e-02 7.34785333e-03 1.90310058e+02] [-2.34985626e-02 9.99723584e-01 -7.56578322e-04 -1.43426851e+01] [-7.36360450e-03 5.83684899e-04 9.99972718e-01 -3.86274993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80241403699998 meters 0.0845112273996611 Centerline is valid? [True, True] Translation: X:190.37, Y:-14.34, Z:-3.87 [[ 9.99535546e-01 2.93318431e-02 8.26650087e-03 1.90370648e+02] [-2.93258107e-02 9.99569544e-01 -8.50033593e-04 -1.43449805e+01] [-8.28787556e-03 6.07216952e-04 9.99965471e-01 -3.86587444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86241403699998 meters 0.08256244039505267 Centerline is valid? [True, True] Translation: X:190.43, Y:-14.35, Z:-3.87 [[ 9.99447785e-01 3.17329316e-02 9.85630554e-03 1.90430197e+02] [-3.17244640e-02 9.99496138e-01 -1.01430798e-03 -1.43479576e+01] [-9.88352629e-03 7.01061851e-04 9.99950911e-01 -3.86621809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92241403699998 meters 0.08337289892009964 Centerline is valid? [True, True] Translation: X:190.49, Y:-14.36, Z:-3.87 [[ 9.99348186e-01 3.37664419e-02 1.27683224e-02 1.90488904e+02] [-3.37524065e-02 9.99429362e-01 -1.31319353e-03 -1.43561364e+01] [-1.28053781e-02 8.81375966e-04 9.99917619e-01 -3.86690968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98241403699998 meters 0.0826311659919619 Centerline is valid? [True, True] Translation: X:190.55, Y:-14.36, Z:-3.87 [[ 9.99282504e-01 3.53417736e-02 1.36174857e-02 1.90548834e+02] [-3.53259667e-02 9.99374863e-01 -1.39965307e-03 -1.43604070e+01] [-1.36584391e-02 9.17597981e-04 9.99906298e-01 -3.86733423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042414037 meters 0.08223293903015344 Centerline is valid? [True, True] Translation: X:190.61, Y:-14.37, Z:-3.87 [[ 9.99229158e-01 3.70191027e-02 1.30642665e-02 1.90607770e+02] [-3.70046903e-02 9.99314189e-01 -1.34328977e-03 -1.43653489e+01] [-1.31050343e-02 8.58815168e-04 9.99913757e-01 -3.86909669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102414037 meters 0.08293141490922046 Centerline is valid? [True, True] Translation: X:190.66, Y:-14.38, Z:-3.87 [[ 9.99197739e-01 3.75112272e-02 1.40280589e-02 1.90664526e+02] [-3.74946606e-02 9.99295787e-01 -1.44219408e-03 -1.43753424e+01] [-1.40722786e-02 9.15059754e-04 9.99900562e-01 -3.87265947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162414037 meters 0.08415873930829235 Centerline is valid? [True, True] Translation: X:190.72, Y:-14.39, Z:-3.88 [[ 9.99241965e-01 3.62557716e-02 1.41779361e-02 1.90722123e+02] [-3.62387498e-02 9.99342101e-01 -1.45573887e-03 -1.43864947e+01] [-1.42213874e-02 9.40844687e-04 9.99898428e-01 -3.87614698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222414037 meters 0.08185428194119491 Centerline is valid? [True, True] Translation: X:190.78, Y:-14.39, Z:-3.88 [[ 9.99288033e-01 3.57644044e-02 1.20139601e-02 1.90781075e+02] [-3.57521460e-02 9.99359926e-01 -1.23363573e-03 -1.43879418e+01] [-1.20503905e-02 8.03232570e-04 9.99927069e-01 -3.87709679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282414037 meters 0.08218038524875779 Centerline is valid? [True, True] Translation: X:190.84, Y:-14.40, Z:-3.88 [[ 9.99355482e-01 3.42996343e-02 1.05904014e-02 1.90839868e+02] [-3.42900361e-02 9.99411333e-01 -1.08662036e-03 -1.43958558e+01] [-1.06214379e-02 7.22774764e-04 9.99943330e-01 -3.88043678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342414037 meters 0.08266821777788899 Centerline is valid? [True, True] Translation: X:190.90, Y:-14.40, Z:-3.88 [[ 9.99351333e-01 3.40058207e-02 1.18540222e-02 1.90898227e+02] [-3.39937800e-02 9.99421305e-01 -1.21581815e-03 -1.44031897e+01] [-1.18885072e-02 8.12066466e-04 9.99928999e-01 -3.88241909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402414037 meters 0.08235067539730184 Centerline is valid? [True, True] Translation: X:190.96, Y:-14.41, Z:-3.88 [[ 9.99386032e-01 3.25622913e-02 1.29327456e-02 1.90956651e+02] [-3.25478528e-02 9.99469299e-01 -1.32539375e-03 -1.44079809e+01] [-1.29690400e-02 9.03646898e-04 9.99915490e-01 -3.88150067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46241403699997 meters 0.08250539864960184 Centerline is valid? [True, True] Translation: X:191.02, Y:-14.41, Z:-3.88 [[ 9.99435751e-01 3.11898483e-02 1.24649039e-02 1.91015837e+02] [-3.11763482e-02 9.99513085e-01 -1.27594729e-03 -1.44138576e+01] [-1.24986311e-02 8.86617155e-04 9.99921496e-01 -3.88346215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52241403699998 meters 0.08461567605880779 Centerline is valid? [True, True] Translation: X:191.07, Y:-14.42, Z:-3.89 [[ 9.99521257e-01 2.88198590e-02 1.12548936e-02 1.91074482e+02] [-2.88087108e-02 9.99584280e-01 -1.15142210e-03 -1.44238900e+01] [-1.12833985e-02 8.26631892e-04 9.99935999e-01 -3.88717538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58241403699998 meters 0.08746621883145811 Centerline is valid? [True, True] Translation: X:191.13, Y:-14.44, Z:-3.89 [[ 9.99655172e-01 2.47753211e-02 8.70170470e-03 1.91132638e+02] [-2.47685114e-02 9.99692818e-01 -8.89486706e-04 -1.44355810e+01] [-8.72106901e-03 6.73651715e-04 9.99961744e-01 -3.89163274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64241403699998 meters 0.08728946018245973 Centerline is valid? [True, True] Translation: X:191.19, Y:-14.44, Z:-3.89 [[ 9.99687582e-01 2.32173640e-02 9.25706449e-03 1.91192098e+02] [-2.32095794e-02 9.99730172e-01 -9.47489773e-04 -1.44399889e+01] [-9.27656490e-03 7.32341186e-04 9.99956704e-01 -3.89203538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70241403699998 meters 0.08481436658751695 Centerline is valid? [True, True] Translation: X:191.25, Y:-14.44, Z:-3.89 [[ 9.99663413e-01 2.36707102e-02 1.06187270e-02 1.91251763e+02] [-2.36604934e-02 9.99719461e-01 -1.08676354e-03 -1.44399687e+01] [-1.06414725e-02 8.35153430e-04 9.99943029e-01 -3.89182788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76241403699999 meters 0.08704174260579775 Centerline is valid? [True, True] Translation: X:191.31, Y:-14.45, Z:-3.89 [[ 9.99643278e-01 2.37874319e-02 1.21438889e-02 1.91308473e+02] [-2.37740798e-02 9.99716584e-01 -1.24269008e-03 -1.44516825e+01] [-1.21700075e-02 9.53537002e-04 9.99925488e-01 -3.89493795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822414037 meters 0.08410249875298005 Centerline is valid? [True, True] Translation: X:191.37, Y:-14.45, Z:-3.89 [[ 9.99670318e-01 2.30987107e-02 1.12118611e-02 1.91367984e+02] [-2.30872984e-02 9.99732796e-01 -1.14626089e-03 -1.44518375e+01] [-1.12353424e-02 8.87031401e-04 9.99936488e-01 -3.89483157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882414037 meters 0.08547698128782988 Centerline is valid? [True, True] Translation: X:191.43, Y:-14.46, Z:-3.90 [[ 9.99719782e-01 2.12223545e-02 1.04866038e-02 1.91428217e+02] [-2.12122915e-02 9.99774422e-01 -1.06991237e-03 -1.44595526e+01] [-1.05069443e-02 8.47167664e-04 9.99944442e-01 -3.89643781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942414037 meters 0.0878786654300308 Centerline is valid? [True, True] Translation: X:191.49, Y:-14.47, Z:-3.90 [[ 9.99765957e-01 1.96950612e-02 8.95188865e-03 1.91486772e+02] [-1.96876636e-02 9.99805762e-01 -9.13755810e-04 -1.44706110e+01] [-8.96814633e-03 7.37300179e-04 9.99959514e-01 -3.90210291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002414037 meters 0.08946013193974206 Centerline is valid? [True, True] Translation: X:191.55, Y:-14.48, Z:-3.91 [[ 9.99817642e-01 1.70468009e-02 8.60750803e-03 1.91545824e+02] [-1.70398648e-02 9.99854425e-01 -8.78515508e-04 -1.44795809e+01] [-8.62123087e-03 7.31684530e-04 9.99962569e-01 -3.90539613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062414037 meters 0.08790674411197862 Centerline is valid? [True, True] Translation: X:191.61, Y:-14.48, Z:-3.91 [[ 9.99814290e-01 1.70462307e-02 8.98953338e-03 1.91605263e+02] [-1.70386558e-02 9.99854410e-01 -9.18550839e-04 -1.44790029e+01] [-9.00388242e-03 7.65210689e-04 9.99959171e-01 -3.90529296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122414037 meters 0.08644769900057334 Centerline is valid? [True, True] Translation: X:191.67, Y:-14.48, Z:-3.91 [[ 9.99777953e-01 1.78584973e-02 1.11856171e-02 1.91665390e+02] [-1.78468475e-02 9.99840082e-01 -1.14045739e-03 -1.44814920e+01] [-1.12041952e-02 9.40576152e-04 9.99936789e-01 -3.90640724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182414037 meters 0.08735507459975388 Centerline is valid? [True, True] Translation: X:191.72, Y:-14.49, Z:-3.91 [[ 9.99754184e-01 1.81168534e-02 1.27809215e-02 1.91723479e+02] [-1.81016543e-02 9.99835301e-01 -1.30388780e-03 -1.44903166e+01] [-1.28024389e-02 1.07221146e-03 9.99917471e-01 -3.90759295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24241403699997 meters 0.08828995938625102 Centerline is valid? [True, True] Translation: X:191.78, Y:-14.50, Z:-3.91 [[ 9.99684394e-01 2.25673463e-02 1.10375750e-02 1.91781571e+02] [-2.25562924e-02 9.99744942e-01 -1.12495612e-03 -1.44976905e+01] [-1.10601471e-02 8.75634303e-04 9.99938451e-01 -3.91071621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30241403699998 meters 0.08462109149912463 Centerline is valid? [True, True] Translation: X:191.84, Y:-14.50, Z:-3.91 [[ 9.99621790e-01 2.57338413e-02 9.69780073e-03 1.91841762e+02] [-2.57254643e-02 9.99668558e-01 -9.87578605e-04 -1.44963445e+01] [-9.72000066e-03 7.37724666e-04 9.99952488e-01 -3.91208444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36241403699998 meters 0.0833700057409569 Centerline is valid? [True, True] Translation: X:191.90, Y:-14.50, Z:-3.92 [[ 9.99484438e-01 3.04979392e-02 1.00365845e-02 1.91901111e+02] [-3.04892049e-02 9.99534574e-01 -1.02213473e-03 -1.45021708e+01] [-1.00630862e-02 7.15600270e-04 9.99949110e-01 -3.91539441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42241403699998 meters 0.08086076006037463 Centerline is valid? [True, True] Translation: X:191.96, Y:-14.50, Z:-3.91 [[ 9.99310264e-01 3.52307811e-02 1.17383609e-02 1.91961797e+02] [-3.52191683e-02 9.99378899e-01 -1.19461189e-03 -1.45032955e+01] [-1.17731572e-02 7.80372617e-04 9.99930389e-01 -3.91363355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48241403699998 meters 0.08073271612091841 Centerline is valid? [True, True] Translation: X:192.02, Y:-14.51, Z:-3.92 [[ 9.99244978e-01 3.73986817e-02 1.05268013e-02 1.92021043e+02] [-3.73894574e-02 9.99300195e-01 -1.07178422e-03 -1.45089088e+01] [-1.05595179e-02 6.77383609e-04 9.99944017e-01 -3.91519032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542414037 meters 0.07990065822688495 Centerline is valid? [True, True] Translation: X:192.08, Y:-14.51, Z:-3.92 [[ 9.99222965e-01 3.88965374e-02 6.36600426e-03 1.92079456e+02] [-3.88931867e-02 9.99243163e-01 -6.49345327e-04 -1.45131229e+01] [-6.38644352e-03 4.01246570e-04 9.99979526e-01 -3.92064510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602414037 meters 0.0808505299261946 Centerline is valid? [True, True] Translation: X:192.14, Y:-14.52, Z:-3.92 [[ 9.99255208e-01 3.82274867e-02 5.26198510e-03 1.92137223e+02] [-3.82251881e-02 9.99269006e-01 -5.36745413e-04 -1.45223273e+01] [-5.27865705e-03 3.35205279e-04 9.99986012e-01 -3.92435818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662414037 meters 0.08035840422150216 Centerline is valid? [True, True] Translation: X:192.20, Y:-14.53, Z:-3.93 [[ 9.99253983e-01 3.80530832e-02 6.59088281e-03 1.92195664e+02] [-3.80494798e-02 9.99275631e-01 -6.71301975e-04 -1.45278947e+01] [-6.61165369e-03 4.20021510e-04 9.99978055e-01 -3.92540336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722414037 meters 0.08012266687609451 Centerline is valid? [True, True] Translation: X:192.25, Y:-14.53, Z:-3.93 [[ 9.99234736e-01 3.80977437e-02 8.86026189e-03 1.92253893e+02] [-3.80912458e-02 9.99273859e-01 -9.01035211e-04 -1.45341888e+01] [-8.88815550e-03 5.62847267e-04 9.99960341e-01 -3.92544006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782414037 meters 0.08102929597937515 Centerline is valid? [True, True] Translation: X:192.31, Y:-14.54, Z:-3.93 [[ 9.99296482e-01 3.64126377e-02 8.98109474e-03 1.92312710e+02] [-3.64059071e-02 9.99336669e-01 -9.11816508e-04 -1.45439250e+01] [-9.00833894e-03 5.84210128e-04 9.99959253e-01 -3.92644241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842414037 meters 0.0815235150058674 Centerline is valid? [True, True] Translation: X:192.37, Y:-14.55, Z:-3.93 [[ 9.99428591e-01 3.28757034e-02 7.85366420e-03 1.92372455e+02] [-3.28704553e-02 9.99459303e-01 -7.96421506e-04 -1.45533417e+01] [-7.87560066e-03 5.37812905e-04 9.99968842e-01 -3.92860319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902414037 meters 0.08216233848024992 Centerline is valid? [True, True] Translation: X:192.43, Y:-14.56, Z:-3.93 [[ 9.99486468e-01 3.11640444e-02 7.45673745e-03 1.92431557e+02] [-3.11592599e-02 9.99514146e-01 -7.56986053e-04 -1.45609549e+01] [-7.47670531e-03 5.24250896e-04 9.99971912e-01 -3.93069837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96241403699997 meters 0.08438054261031484 Centerline is valid? [True, True] Translation: X:192.49, Y:-14.57, Z:-3.94 [[ 9.99585192e-01 2.80266265e-02 6.62964210e-03 1.92490389e+02] [-2.80227818e-02 9.99607059e-01 -6.72135404e-04 -1.45727380e+01] [-6.64587473e-03 4.86075583e-04 9.99977798e-01 -3.93592329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02241403699998 meters 0.08543171694891745 Centerline is valid? [True, True] Translation: X:192.55, Y:-14.58, Z:-3.94 [[ 9.99706827e-01 2.30315247e-02 7.47050243e-03 1.92550594e+02] [-2.30265058e-02 9.99734568e-01 -7.57153217e-04 -1.45819364e+01] [-7.48595792e-03 5.84911673e-04 9.99971809e-01 -3.93739423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08241403699998 meters 0.08738929584826105 Centerline is valid? [True, True] Translation: X:192.61, Y:-14.59, Z:-3.94 [[ 9.99800888e-01 1.85384232e-02 7.38318830e-03 1.92610640e+02] [-1.85333975e-02 9.99827962e-01 -7.48548580e-04 -1.45913174e+01] [-7.39579502e-03 6.11563972e-04 9.99972464e-01 -3.94065429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14241403699998 meters 0.0890669704389922 Centerline is valid? [True, True] Translation: X:192.67, Y:-14.60, Z:-3.94 [[ 9.99887611e-01 1.25443902e-02 8.20996043e-03 1.92670071e+02] [-1.25379762e-02 9.99921050e-01 -8.32247293e-04 -1.46010351e+01] [-8.21975229e-03 7.29217468e-04 9.99965951e-01 -3.94285302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20241403699998 meters 0.09446149770784154 Centerline is valid? [True, True] Translation: X:192.73, Y:-14.62, Z:-3.95 [[ 9.99928307e-01 9.66241971e-03 7.07231558e-03 1.92727766e+02] [-9.65760016e-03 9.99953108e-01 -7.15301487e-04 -1.46166820e+01] [-7.07889549e-03 6.46948609e-04 9.99974735e-01 -3.94653314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26241403699999 meters 0.09055057461726387 Centerline is valid? [True, True] Translation: X:192.79, Y:-14.61, Z:-3.94 [[ 9.99946584e-01 8.30119971e-03 6.15790004e-03 1.92788442e+02] [-8.29750771e-03 9.99965380e-01 -6.24860003e-04 -1.46125157e+01] [-6.16287394e-03 5.73731402e-04 9.99980845e-01 -3.94455428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322414037 meters 0.092775760884456 Centerline is valid? [True, True] Translation: X:192.85, Y:-14.62, Z:-3.95 [[ 9.99974730e-01 5.95692774e-03 3.88006277e-03 1.92848459e+02] [-5.95544578e-03 9.99982189e-01 -3.93384242e-04 -1.46195878e+01] [-3.88233702e-03 3.70266798e-04 9.99992395e-01 -3.94775479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382414037 meters 0.09465846069141731 Centerline is valid? [True, True] Translation: X:192.91, Y:-14.63, Z:-3.95 [[ 9.99986285e-01 4.50286581e-03 2.67477669e-03 1.92908292e+02] [-4.50215646e-03 9.99989828e-01 -2.71160388e-04 -1.46283693e+01] [-2.67597048e-03 2.59114405e-04 9.99996386e-01 -3.95066890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442414037 meters 0.09644326987966913 Centerline is valid? [True, True] Translation: X:192.97, Y:-14.63, Z:-3.95 [[ 9.99987895e-01 4.76863905e-03 1.21271276e-03 1.92967110e+02] [-4.76849276e-03 9.99988623e-01 -1.23492175e-04 -1.46347582e+01] [-1.21328786e-03 1.17707868e-04 9.99999257e-01 -3.95315980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502414037 meters 0.0967650691531635 Centerline is valid? [True, True] Translation: X:193.03, Y:-14.64, Z:-3.95 [[ 9.99979986e-01 6.24581753e-03 1.00867960e-03 1.93026527e+02] [-6.24571645e-03 9.99980490e-01 -1.03324814e-04 -1.46387752e+01] [-1.00930526e-03 9.70228188e-05 9.99999486e-01 -3.95367571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562414037 meters 0.09278220209763809 Centerline is valid? [True, True] Translation: X:193.09, Y:-14.63, Z:-3.95 [[ 9.99954027e-01 9.54385539e-03 9.26966264e-04 1.93087975e+02] [-9.54377239e-03 9.99954453e-01 -9.39303951e-05 -1.46347848e+01] [-9.27820502e-04 8.50793218e-05 9.99999566e-01 -3.95420641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622414037 meters 0.09083963376453802 Centerline is valid? [True, True] Translation: X:193.15, Y:-14.63, Z:-3.95 [[ 9.99934535e-01 1.14347121e-02 4.15037428e-04 1.93147839e+02] [-1.14346951e-02 9.99934621e-01 -4.32057398e-05 -1.46345783e+01] [-4.15504338e-04 3.84570849e-05 9.99999913e-01 -3.95493272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682414037 meters 0.09020734953950453 Centerline is valid? [True, True] Translation: X:193.21, Y:-14.64, Z:-3.96 [[ 9.99932437e-01 1.16224446e-02 1.98082866e-04 1.93206951e+02] [-1.16224404e-02 9.99932457e-01 -2.23994134e-05 -1.46374541e+01] [-1.98329823e-04 2.00956938e-05 9.99999980e-01 -3.95511444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74241403699997 meters 0.09378738625262552 Centerline is valid? [True, True] Translation: X:193.27, Y:-14.65, Z:-3.96 [[ 9.99946225e-01 1.01460957e-02 -2.14567098e-03 1.93265177e+02] [-1.01456541e-02 9.99948508e-01 2.16592864e-04 -1.46489545e+01] [ 2.14775807e-03 -1.94811981e-04 9.99997675e-01 -3.95998730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80241403699998 meters 0.09226544730818005 Centerline is valid? [True, True] Translation: X:193.33, Y:-14.65, Z:-3.96 [[ 9.99946251e-01 9.04443881e-03 -5.06884545e-03 1.93325400e+02] [-9.04195699e-03 9.99958989e-01 5.12324761e-04 -1.46486690e+01] [ 5.07327126e-03 -4.66464942e-04 9.99987022e-01 -3.96254002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86241403699998 meters 0.0937497669931059 Centerline is valid? [True, True] Translation: X:193.39, Y:-14.65, Z:-3.96 [[ 9.99951921e-01 7.75272016e-03 -6.00433143e-03 1.93385813e+02] [-7.74921048e-03 9.99969790e-01 6.07569541e-04 -1.46535348e+01] [ 6.00886036e-03 -5.61011501e-04 9.99981789e-01 -3.96492346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92241403699998 meters 0.09298908156631223 Centerline is valid? [True, True] Translation: X:193.44, Y:-14.66, Z:-3.96 [[ 9.99962472e-01 7.35380881e-03 -4.57992785e-03 1.93444288e+02] [-7.35177499e-03 9.99972869e-01 4.60749928e-04 -1.46565895e+01] [ 4.58319186e-03 -4.27062038e-04 9.99989406e-01 -3.96469284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98241403699998 meters 0.0968671059251508 Centerline is valid? [True, True] Translation: X:193.50, Y:-14.67, Z:-3.97 [[ 9.99973548e-01 6.56041603e-03 -3.14084393e-03 1.93501493e+02] [-6.55946062e-03 9.99978437e-01 3.14395122e-04 -1.46662296e+01] [ 3.14283877e-03 -2.93784563e-04 9.99995018e-01 -3.96662144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042414037 meters 0.09641797432196796 Centerline is valid? [True, True] Translation: X:193.56, Y:-14.67, Z:-3.97 [[ 9.99974804e-01 6.46460925e-03 -2.93264360e-03 1.93560663e+02] [-6.46377515e-03 9.99979066e-01 2.93806652e-04 -1.46678763e+01] [ 2.93448156e-03 -2.74843301e-04 9.99995657e-01 -3.96642282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102414037 meters 0.09550304604225292 Centerline is valid? [True, True] Translation: X:193.62, Y:-14.67, Z:-3.97 [[ 9.99974545e-01 5.61480656e-03 -4.40270865e-03 1.93620390e+02] [-5.61290915e-03 9.99984149e-01 4.43202332e-04 -1.46696504e+01] [ 4.40512736e-03 -4.18479047e-04 9.99990210e-01 -3.96750499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162414037 meters 0.09868530021932988 Centerline is valid? [True, True] Translation: X:193.68, Y:-14.68, Z:-3.97 [[ 9.99982438e-01 4.60925613e-03 -3.72524994e-03 1.93677181e+02] [-4.60789899e-03 9.99989314e-01 3.72809789e-04 -1.46801918e+01] [ 3.72692851e-03 -3.55637667e-04 9.99992992e-01 -3.97196518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222414037 meters 0.10100417864453604 Centerline is valid? [True, False] Translation: X:193.68, Y:-14.68, Z:-3.97 [[ 9.99986281e-01 4.22390342e-03 -3.09791259e-03 1.93676250e+02] [-4.22287759e-03 9.99991027e-01 3.37603732e-04 -1.46799145e+01] [ 3.09931080e-03 -3.24516994e-04 9.99995144e-01 -3.97260153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282414037 meters 0.10210267128324016 Centerline is valid? [False, False] Translation: X:193.68, Y:-14.68, Z:-3.97 [[ 9.99988815e-01 3.71084771e-03 -2.93260903e-03 1.93675929e+02] [-3.71184222e-03 9.99993055e-01 -3.33752656e-04 -1.46776830e+01] [ 2.93135016e-03 3.44634305e-04 9.99995644e-01 -3.97268879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342414037 meters 0.09713826206833458 Centerline is valid? [False, True] Translation: X:193.68, Y:-14.68, Z:-3.97 [[ 9.99989660e-01 3.51383167e-03 -2.88665720e-03 1.93676081e+02] [-3.51571597e-03 9.99993610e-01 -6.47949424e-04 -1.46761296e+01] [ 2.88436197e-03 6.58091391e-04 9.99995624e-01 -3.97308144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402414037 meters 0.09782715338464013 Centerline is valid? [True, True] Translation: X:193.73, Y:-14.68, Z:-3.97 [[ 9.99995379e-01 2.64071038e-03 -1.50647603e-03 1.93734708e+02] [-2.64048910e-03 9.99996503e-01 1.48854664e-04 -1.46815606e+01] [ 1.50686384e-03 -1.44876143e-04 9.99998854e-01 -3.97479357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46241403699997 meters 0.09586586927799153 Centerline is valid? [True, True] Translation: X:193.79, Y:-14.68, Z:-3.98 [[ 9.99997456e-01 1.49081180e-03 -1.69269950e-03 1.93794236e+02] [-1.49052949e-03 9.99998875e-01 1.68030632e-04 -1.46823004e+01] [ 1.69294810e-03 -1.65507186e-04 9.99998553e-01 -3.97551958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52241403699998 meters 0.09765234404112663 Centerline is valid? [True, True] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99999058e-01 8.49418529e-04 -1.07836421e-03 1.93853797e+02] [-8.49303668e-04 9.99999634e-01 1.06968156e-04 -1.46895646e+01] [ 1.07845467e-03 -1.06052197e-04 9.99999413e-01 -3.97755914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58241403699998 meters 0.10114557163453393 Centerline is valid? [True, False] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99999085e-01 5.37133483e-04 -1.24176034e-03 1.93854141e+02] [-5.37861626e-04 9.99999684e-01 -5.86120120e-04 -1.46868384e+01] [ 1.24144512e-03 5.86787478e-04 9.99999057e-01 -3.97760551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64241403699998 meters 0.09980617863535857 Centerline is valid? [False, True] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99999556e-01 2.11230490e-04 -9.18639096e-04 1.93853639e+02] [-2.11989876e-04 9.99999636e-01 -8.26623898e-04 -1.46857582e+01] [ 9.18464154e-04 8.26818273e-04 9.99999236e-01 -3.97795445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70241403699998 meters 0.10352386767897705 Centerline is valid? [True, False] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99992853e-01 -3.66543964e-03 -9.26713034e-04 1.93854195e+02] [ 3.66132796e-03 9.99983616e-01 -4.40028210e-03 -1.46870430e+01] [ 9.42826819e-04 4.39685765e-03 9.99989889e-01 -3.97873656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76241403699999 meters 0.10461837404302841 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99992392e-01 -3.88279838e-03 -3.73333831e-04 1.93853033e+02] [ 3.88125201e-03 9.99984237e-01 -4.05720540e-03 -1.46883769e+01] [ 3.89081257e-04 4.05572553e-03 9.99991700e-01 -3.97883154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822414037 meters 0.10193064710266699 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99993657e-01 -3.55894489e-03 1.41352426e-04 1.93852546e+02] [ 3.55933029e-03 9.99989670e-01 -2.82686962e-03 -1.46914708e+01] [-1.31290293e-04 2.82735481e-03 9.99995994e-01 -3.97979669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882414037 meters 0.10508048631029185 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.69, Z:-3.98 [[ 9.99994671e-01 -3.24653896e-03 3.42997762e-04 1.93852458e+02] [ 3.24724515e-03 9.99992567e-01 -2.07877019e-03 -1.46934680e+01] [-3.36246404e-04 2.07987291e-03 9.99997781e-01 -3.98030876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942414037 meters 0.104907080582116 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.70, Z:-3.98 [[ 9.99996612e-01 -2.59225180e-03 2.36441321e-04 1.93853201e+02] [ 2.59251345e-03 9.99996020e-01 -1.11310693e-03 -1.46957000e+01] [-2.33554927e-04 1.11371614e-03 9.99999353e-01 -3.98104745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002414037 meters 0.10419320738000297 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.70, Z:-3.98 [[ 9.99997672e-01 -2.12694189e-03 3.62808701e-04 1.93853358e+02] [ 2.12701393e-03 9.99997718e-01 -1.98285320e-04 -1.46984314e+01] [-3.62386131e-04 1.99056558e-04 9.99999915e-01 -3.98166682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062414037 meters 0.10608296936893155 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.70, Z:-3.98 [[ 9.99997876e-01 -2.03665658e-03 3.15781185e-04 1.93853434e+02] [ 2.03668000e-03 9.99997923e-01 -7.38706835e-05 -1.46988816e+01] [-3.15630080e-04 7.45136718e-05 9.99999947e-01 -3.98160478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122414037 meters 0.10653908408268338 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.70, Z:-3.98 [[ 9.99998528e-01 -1.70424534e-03 -1.96532849e-04 1.93854381e+02] [ 1.70422783e-03 9.99998544e-01 -8.92442787e-05 -1.46986875e+01] [ 1.96684657e-04 8.89092107e-05 9.99999977e-01 -3.98131368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18241403699997 meters 0.105403053998091 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.70, Z:-3.98 [[ 9.99998969e-01 -1.35967128e-03 -4.62437139e-04 1.93854912e+02] [ 1.35976278e-03 9.99999056e-01 1.97613440e-04 -1.46994897e+01] [ 4.62168014e-04 -1.98242041e-04 9.99999874e-01 -3.98121758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24241403699997 meters 0.10060705725706637 Centerline is valid? [False, False] Translation: X:193.85, Y:-14.70, Z:-3.98 [[ 9.99999181e-01 -1.18528188e-03 -4.81925353e-04 1.93854748e+02] [ 1.18552785e-03 9.99999167e-01 5.10424016e-04 -1.47009646e+01] [ 4.81319955e-04 -5.10994934e-04 9.99999754e-01 -3.98088505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30241403699998 meters 0.10336795594367888 Centerline is valid? [False, False] Translation: X:193.86, Y:-14.70, Z:-3.98 [[ 9.99999724e-01 -5.17083857e-04 -5.33345779e-04 1.93855253e+02] [ 5.17944293e-04 9.99998563e-01 1.61440702e-03 -1.47041253e+01] [ 5.32510229e-04 -1.61468282e-03 9.99998555e-01 -3.98144109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36241403699998 meters 0.1032648708435476 Centerline is valid? [False, False] Translation: X:193.86, Y:-14.71, Z:-3.98 [[ 9.99999784e-01 2.01693685e-04 -6.25015887e-04 1.93856077e+02] [-1.99955624e-04 9.99996117e-01 2.77964409e-03 -1.47067804e+01] [ 6.25574096e-04 -2.77951851e-03 9.99995941e-01 -3.98242447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42241403699998 meters 0.10274676867330391 Centerline is valid? [False, False] Translation: X:193.86, Y:-14.71, Z:-3.98 [[ 9.99999668e-01 6.70106272e-04 -4.63861867e-04 1.93855624e+02] [-6.68320346e-04 9.99992405e-01 3.83963244e-03 -1.47104750e+01] [ 4.66431306e-04 -3.83932116e-03 9.99992521e-01 -3.98220531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48241403699998 meters 0.09957944776365558 Centerline is valid? [False, True] Translation: X:193.86, Y:-14.71, Z:-3.98 [[ 9.99995119e-01 -2.79174007e-03 -1.40288437e-03 1.93857444e+02] [ 2.79176627e-03 9.99996103e-01 1.67179796e-05 -1.47115706e+01] [ 1.40283223e-03 -2.06344233e-05 9.99999016e-01 -3.98187590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542414037 meters 0.09867227745304716 Centerline is valid? [True, True] Translation: X:193.92, Y:-14.72, Z:-3.98 [[ 9.99992345e-01 -3.21244098e-03 -2.23396825e-03 1.93917424e+02] [ 3.21296984e-03 9.99994811e-01 2.33190112e-04 -1.47194910e+01] [ 2.23320755e-03 -2.40365999e-04 9.99997478e-01 -3.98395642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602414037 meters 0.10773734976295973 Centerline is valid? [True, False] Translation: X:193.92, Y:-14.72, Z:-3.98 [[ 9.99993366e-01 -3.00491142e-03 -2.05897525e-03 1.93916855e+02] [ 3.00662389e-03 9.99995136e-01 8.29118851e-04 -1.47221712e+01] [ 2.05647381e-03 -8.35303914e-04 9.99997537e-01 -3.98357986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662414037 meters 0.09813450233459572 Centerline is valid? [False, True] Translation: X:193.92, Y:-14.72, Z:-3.98 [[ 9.99993374e-01 -2.90698979e-03 -2.19127108e-03 1.93916814e+02] [ 2.90905186e-03 9.99995328e-01 9.38437645e-04 -1.47230069e+01] [ 2.18853282e-03 -9.44805948e-04 9.99997159e-01 -3.98306830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722414037 meters 0.1054145743045679 Centerline is valid? [True, False] Translation: X:193.92, Y:-14.73, Z:-3.98 [[ 9.99994381e-01 -2.33406175e-03 -2.40638835e-03 1.93917451e+02] [ 2.33829841e-03 9.99995719e-01 1.75928331e-03 -1.47251421e+01] [ 2.40227177e-03 -1.76490027e-03 9.99995557e-01 -3.98332419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782414037 meters 0.10579701925400994 Centerline is valid? [False, False] Translation: X:193.92, Y:-14.73, Z:-3.98 [[ 9.99995820e-01 -2.01012817e-03 -2.07811284e-03 1.93916726e+02] [ 2.01583484e-03 9.99994193e-01 2.74764514e-03 -1.47288366e+01] [ 2.07257765e-03 -2.75182279e-03 9.99994066e-01 -3.98318948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842414037 meters 0.10347477341387691 Centerline is valid? [False, False] Translation: X:193.92, Y:-14.73, Z:-3.98 [[ 9.99996853e-01 -1.73405994e-03 -1.81304929e-03 1.93915933e+02] [ 1.74061693e-03 9.99991928e-01 3.62125009e-03 -1.47320843e+01] [ 1.80675519e-03 -3.62439451e-03 9.99991800e-01 -3.98275978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902414037 meters 0.10371998732845988 Centerline is valid? [False, False] Translation: X:193.92, Y:-14.73, Z:-3.98 [[ 9.99997664e-01 -1.34668266e-03 -1.69070362e-03 1.93915967e+02] [ 1.35421382e-03 9.99989132e-01 4.46124235e-03 -1.47344248e+01] [ 1.68467737e-03 -4.46352150e-03 9.99988619e-01 -3.98320201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96241403699997 meters 0.1037183917990312 Centerline is valid? [False, False] Translation: X:193.92, Y:-14.74, Z:-3.98 [[ 9.99987884e-01 -4.54643197e-03 -1.88735490e-03 1.93916607e+02] [ 4.54996976e-03 9.99987892e-01 1.87442912e-03 -1.47395424e+01] [ 1.87881008e-03 -1.88299382e-03 9.99996462e-01 -3.98344565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02241403699998 meters 0.10465864570765489 Centerline is valid? [False, False] Translation: X:193.92, Y:-14.74, Z:-3.98 [[ 9.99989184e-01 -4.34051726e-03 -1.67087573e-03 1.93915874e+02] [ 4.34488076e-03 9.99987137e-01 2.61679016e-03 -1.47423837e+01] [ 1.65949601e-03 -2.62402162e-03 9.99995180e-01 -3.98299111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08241403699998 meters 0.09964060620878441 Centerline is valid? [False, True] Translation: X:193.92, Y:-14.74, Z:-3.98 [[ 9.99990966e-01 -3.75578078e-03 -1.99027006e-03 1.93916538e+02] [ 3.76272789e-03 9.99986802e-01 3.49836379e-03 -1.47445504e+01] [ 1.97710470e-03 -3.50582103e-03 9.99991900e-01 -3.98298042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14241403699998 meters 0.09956885816462928 Centerline is valid? [True, True] Translation: X:193.98, Y:-14.75, Z:-3.98 [[ 9.99991202e-01 -3.83361751e-03 -1.70251619e-03 1.93976376e+02] [ 3.83394552e-03 9.99992632e-01 1.89439769e-04 -1.47521490e+01] [ 1.70177741e-03 -1.95965457e-04 9.99998533e-01 -3.98371571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20241403699998 meters 0.10286696072791968 Centerline is valid? [True, False] Translation: X:193.98, Y:-14.76, Z:-3.98 [[ 9.99993543e-01 -3.36284204e-03 -1.26686787e-03 1.93975839e+02] [ 3.36460677e-03 9.99993369e-01 1.39343821e-03 -1.47562190e+01] [ 1.26217356e-03 -1.39769173e-03 9.99998227e-01 -3.98417748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26241403699999 meters 0.10426218133489834 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.76, Z:-3.98 [[ 9.99994806e-01 -2.90102978e-03 -1.40429197e-03 1.93976399e+02] [ 2.90391994e-03 9.99993661e-01 2.06044596e-03 -1.47576193e+01] [ 1.39830566e-03 -2.06451321e-03 9.99996891e-01 -3.98457408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322414037 meters 0.10256976293722289 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.76, Z:-3.98 [[ 9.99995903e-01 -2.46533630e-03 -1.45499681e-03 1.93976202e+02] [ 2.46938899e-03 9.99993059e-01 2.79017083e-03 -1.47605360e+01] [ 1.44810800e-03 -2.79375235e-03 9.99995049e-01 -3.98405308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382414037 meters 0.10225026144053163 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.76, Z:-3.98 [[ 9.99996060e-01 -2.27811662e-03 -1.64038569e-03 1.93976478e+02] [ 2.28303124e-03 9.99992893e-01 3.00040145e-03 -1.47610964e+01] [ 1.63353877e-03 -3.00413468e-03 9.99994153e-01 -3.98388943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442414037 meters 0.10614707768491659 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.76, Z:-3.98 [[ 9.99996453e-01 -2.07769880e-03 -1.66628809e-03 1.93976381e+02] [ 2.08329755e-03 9.99992167e-01 3.36534798e-03 -1.47623533e+01] [ 1.65928286e-03 -3.36880742e-03 9.99992949e-01 -3.98365911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502414037 meters 0.10032647839408358 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.77, Z:-3.98 [[ 9.99997362e-01 -1.88268383e-03 -1.31623137e-03 1.93975066e+02] [ 1.88804777e-03 9.99989870e-01 4.08593130e-03 -1.47667679e+01] [ 1.30852552e-03 -4.08840563e-03 9.99990786e-01 -3.98257033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562414037 meters 0.10230365112651746 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.77, Z:-3.98 [[ 9.99997507e-01 -1.58107688e-03 -1.57691006e-03 1.93975793e+02] [ 1.58798198e-03 9.99989115e-01 4.38728085e-03 -1.47670541e+01] [ 1.56995626e-03 -4.38977401e-03 9.99989133e-01 -3.98283258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622414037 meters 0.10195440993850761 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.77, Z:-3.98 [[ 9.99997911e-01 -1.36514715e-03 -1.52140934e-03 1.93975509e+02] [ 1.37265612e-03 9.99986829e-01 4.94547501e-03 -1.47690999e+01] [ 1.51463801e-03 -4.94755305e-03 9.99986614e-01 -3.98258083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68241403699997 meters 0.10336599696608045 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.77, Z:-3.98 [[ 9.99987113e-01 -4.71112211e-03 -1.89176573e-03 1.93976485e+02] [ 4.71491011e-03 9.99986879e-01 2.00292123e-03 -1.47726651e+01] [ 1.88230490e-03 -2.01181493e-03 9.99996205e-01 -3.98286137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74241403699997 meters 0.10180369399716142 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.77, Z:-3.98 [[ 9.99987313e-01 -4.66427263e-03 -1.90223167e-03 1.93976284e+02] [ 4.66843185e-03 9.99986709e-01 2.18794662e-03 -1.47734395e+01] [ 1.89200121e-03 -2.19679930e-03 9.99995797e-01 -3.98253109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80241403699998 meters 0.1023284504139306 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.77, Z:-3.98 [[ 9.99988292e-01 -4.38597153e-03 -2.04422059e-03 1.93976514e+02] [ 4.39120445e-03 9.99987076e-01 2.56243724e-03 -1.47745164e+01] [ 2.03295539e-03 -2.57138383e-03 9.99994628e-01 -3.98241366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86241403699998 meters 0.10641016847040632 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99990055e-01 -3.90651243e-03 -2.15168224e-03 1.93976908e+02] [ 3.91365146e-03 9.99986818e-01 3.32372841e-03 -1.47766192e+01] [ 2.13866969e-03 -3.33211629e-03 9.99992162e-01 -3.98270330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92241403699998 meters 0.1015366835191003 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99991083e-01 -3.62574615e-03 -2.16492514e-03 1.93976784e+02] [ 3.63408872e-03 9.99985939e-01 3.86209529e-03 -1.47784686e+01] [ 2.15089172e-03 -3.86992839e-03 9.99990199e-01 -3.98250021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98241403699998 meters 0.10356310195776629 Centerline is valid? [False, False] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99971750e-01 -6.78642938e-03 -3.23169926e-03 1.93979569e+02] [ 6.78730495e-03 9.99976932e-01 2.60041580e-04 -1.47778986e+01] [ 3.22985996e-03 -2.81968762e-04 9.99994744e-01 -3.98338587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042414037 meters 0.09732193504310681 Centerline is valid? [False, True] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99992098e-01 -3.02500319e-03 -2.57957606e-03 1.93977581e+02] [ 3.03630885e-03 9.99985754e-01 4.39016457e-03 -1.47793350e+01] [ 2.56625905e-03 -4.39796226e-03 9.99987036e-01 -3.98241436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102414037 meters 0.10158618868165013 Centerline is valid? [True, False] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99992811e-01 -2.75028117e-03 -2.61027855e-03 1.93977522e+02] [ 2.76299054e-03 9.99984286e-01 4.87792049e-03 -1.47810611e+01] [ 2.59682188e-03 -4.88509760e-03 9.99984696e-01 -3.98225156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162414037 meters 0.09915587505747844 Centerline is valid? [False, True] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99993231e-01 -2.48114167e-03 -2.71705148e-03 1.93977354e+02] [ 2.49557510e-03 9.99982726e-01 5.32172622e-03 -1.47828222e+01] [ 2.70380059e-03 -5.32847080e-03 9.99982148e-01 -3.98170068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222414037 meters 0.1008486641590442 Centerline is valid? [True, False] Translation: X:193.98, Y:-14.78, Z:-3.98 [[ 9.99987005e-01 -3.90021218e-03 -3.28294247e-03 1.93980860e+02] [ 3.91143802e-03 9.99986502e-01 3.41999740e-03 -1.47830202e+01] [ 3.26955944e-03 -3.43279398e-03 9.99988763e-01 -3.98422644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282414037 meters 0.09798498392882397 Centerline is valid? [False, True] Translation: X:193.97, Y:-14.79, Z:-3.99 [[ 9.99988668e-01 1.16543957e-03 4.61579298e-03 1.93971372e+02] [-1.16813980e-03 9.99999148e-01 5.82345719e-04 -1.47866249e+01] [-4.61511036e-03 -5.87731011e-04 9.99989178e-01 -3.98993492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342414037 meters 0.09909909153728351 Centerline is valid? [True, True] Translation: X:194.03, Y:-14.80, Z:-3.99 [[ 9.99983888e-01 1.26918055e-03 5.53281149e-03 1.94032652e+02] [-1.26578954e-03 9.99999009e-01 -6.16349726e-04 -1.47965724e+01] [-5.53358826e-03 6.09336421e-04 9.99984504e-01 -3.99340059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402414037 meters 0.09639155474763748 Centerline is valid? [True, True] Translation: X:194.09, Y:-14.80, Z:-3.99 [[ 9.99968149e-01 1.75181863e-03 7.78667625e-03 1.94094395e+02] [-1.74504214e-03 9.99998093e-01 -8.76977094e-04 -1.47981210e+01] [-7.78819770e-03 8.63361083e-04 9.99969299e-01 -3.99323069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46241403699997 meters 0.09744257960443588 Centerline is valid? [True, True] Translation: X:194.16, Y:-14.81, Z:-4.00 [[ 9.99957872e-01 2.27958774e-03 8.89138657e-03 1.94156480e+02] [-2.27077843e-03 9.99996921e-01 -1.00073844e-03 -1.48071161e+01] [-8.89364047e-03 9.80505912e-04 9.99959970e-01 -3.99540750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52241403699998 meters 0.09635133322183874 Centerline is valid? [True, True] Translation: X:194.22, Y:-14.81, Z:-4.00 [[ 9.99943186e-01 2.03191522e-03 1.04640099e-02 1.94218057e+02] [-2.01971968e-03 9.99997269e-01 -1.17591040e-03 -1.48137545e+01] [-1.04663707e-02 1.15470923e-03 9.99944559e-01 -3.99812184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58241403699998 meters 0.09838476680700703 Centerline is valid? [True, True] Translation: X:194.28, Y:-14.83, Z:-4.00 [[ 9.99945422e-01 1.73082506e-03 1.03032585e-02 1.94279558e+02] [-1.71895965e-03 9.99997849e-01 -1.16036141e-03 -1.48270172e+01] [-1.03052448e-02 1.14258719e-03 9.99946247e-01 -4.00157129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64241403699998 meters 0.10103218931443833 Centerline is valid? [True, False] Translation: X:194.28, Y:-14.83, Z:-4.00 [[ 9.99947102e-01 2.44984172e-03 9.98959010e-03 1.94280841e+02] [-2.44756683e-03 9.99996976e-01 -2.39945414e-04 -1.48287057e+01] [-9.99014772e-03 2.15482532e-04 9.99950074e-01 -4.00255092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70241403699998 meters 0.0992721692230012 Centerline is valid? [False, True] Translation: X:194.28, Y:-14.83, Z:-4.00 [[ 9.99947189e-01 2.77991952e-03 9.89401429e-03 1.94280783e+02] [-2.78292066e-03 9.99996086e-01 2.89574500e-04 -1.48305699e+01] [-9.89317057e-03 -3.17093464e-04 9.99951011e-01 -4.00220616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76241403699999 meters 0.09816654197340441 Centerline is valid? [True, True] Translation: X:194.34, Y:-14.84, Z:-4.00 [[ 9.99929594e-01 4.25508925e-03 1.10770724e-02 1.94341572e+02] [-4.24169900e-03 9.99990245e-01 -1.23203885e-03 -1.48379692e+01] [-1.10822067e-02 1.18496650e-03 9.99937888e-01 -4.00497197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822414037 meters 0.09760010676554409 Centerline is valid? [True, True] Translation: X:194.40, Y:-14.85, Z:-4.01 [[ 9.99902717e-01 5.56373444e-03 1.27907003e-02 1.94402256e+02] [-5.54598245e-03 9.99983609e-01 -1.42293410e-03 -1.48451335e+01] [-1.27984075e-02 1.35185868e-03 9.99917183e-01 -4.00591828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882414037 meters 0.0975275627988115 Centerline is valid? [True, True] Translation: X:194.46, Y:-14.85, Z:-4.01 [[ 9.99893734e-01 6.34489421e-03 1.31248871e-02 1.94463655e+02] [-6.32627299e-03 9.99978923e-01 -1.45980340e-03 -1.48534450e+01] [-1.31338728e-02 1.37661665e-03 9.99912799e-01 -4.00772284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942414037 meters 0.0984943071455019 Centerline is valid? [True, True] Translation: X:194.53, Y:-14.86, Z:-4.01 [[ 9.99891555e-01 7.16352786e-03 1.28670857e-02 1.94525123e+02] [-7.14572859e-03 9.99973448e-01 -1.42876085e-03 -1.48640981e+01] [-1.28769791e-02 1.33666120e-03 9.99916195e-01 -4.01140217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002414037 meters 0.09881727632434709 Centerline is valid? [True, True] Translation: X:194.59, Y:-14.87, Z:-4.01 [[ 9.99904965e-01 6.75552114e-03 1.20176830e-02 1.94586135e+02] [-6.73991271e-03 9.99976390e-01 -1.33881561e-03 -1.48725811e+01] [-1.20264437e-02 1.25769024e-03 9.99926889e-01 -4.01443257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062414037 meters 0.09560930821038799 Centerline is valid? [True, True] Translation: X:194.65, Y:-14.87, Z:-4.01 [[ 9.99895432e-01 6.40962764e-03 1.29631234e-02 1.94648555e+02] [-6.39143866e-03 9.99978532e-01 -1.44407446e-03 -1.48743117e+01] [-1.29721011e-02 1.36107045e-03 9.99914932e-01 -4.01495035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122414037 meters 0.09568320995971906 Centerline is valid? [True, True] Translation: X:194.71, Y:-14.88, Z:-4.02 [[ 9.99883763e-01 5.00783340e-03 1.44007758e-02 1.94709393e+02] [-4.98513485e-03 9.99986275e-01 -1.61166830e-03 -1.48844230e+01] [-1.44086491e-02 1.53969116e-03 9.99895005e-01 -4.01706991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18241403699997 meters 0.09759265305754618 Centerline is valid? [True, True] Translation: X:194.77, Y:-14.90, Z:-4.02 [[ 9.99914977e-01 3.38261985e-03 1.25935025e-02 1.94769273e+02] [-3.36512639e-03 9.99993344e-01 -1.41001753e-03 -1.48960166e+01] [-1.25981882e-02 1.36751892e-03 9.99919705e-01 -4.02097196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24241403699997 meters 0.09885155506791533 Centerline is valid? [True, True] Translation: X:194.83, Y:-14.91, Z:-4.02 [[ 9.99910302e-01 4.23331461e-03 1.27069892e-02 1.94829572e+02] [-4.21557297e-03 9.99990102e-01 -1.42267168e-03 -1.49061550e+01] [-1.27128860e-02 1.36897683e-03 9.99918251e-01 -4.02294631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30241403699998 meters 0.10125645716441443 Centerline is valid? [True, False] Translation: X:194.83, Y:-14.91, Z:-4.02 [[ 9.99912835e-01 4.50564001e-03 1.24105106e-02 1.94830014e+02] [-4.49118642e-03 9.99989204e-01 -1.19224936e-03 -1.49067627e+01] [-1.24157485e-02 1.13640753e-03 9.99922276e-01 -4.02274897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36241403699998 meters 0.0950897068231648 Centerline is valid? [False, True] Translation: X:194.83, Y:-14.91, Z:-4.02 [[ 9.99914306e-01 4.79497820e-03 1.21814883e-02 1.94830783e+02] [-4.78386904e-03 9.99988115e-01 -9.40945577e-04 -1.49071075e+01] [-1.21858554e-02 8.82590298e-04 9.99925360e-01 -4.02324229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42241403699998 meters 0.09992429871611205 Centerline is valid? [True, True] Translation: X:194.89, Y:-14.92, Z:-4.03 [[ 9.99921485e-01 4.56623752e-03 1.16693128e-02 1.94890510e+02] [-4.55165340e-03 9.99988827e-01 -1.27603706e-03 -1.49230947e+01] [-1.16750091e-02 1.22282220e-03 9.99931097e-01 -4.02808234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48241403699998 meters 0.09566361296364775 Centerline is valid? [True, True] Translation: X:194.95, Y:-14.92, Z:-4.03 [[ 9.99922315e-01 4.45129392e-03 1.16425571e-02 1.94953539e+02] [-4.43677425e-03 9.99989348e-01 -1.27265239e-03 -1.49220489e+01] [-1.16480980e-02 1.22089813e-03 9.99931413e-01 -4.02807700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542414037 meters 0.09968430063500046 Centerline is valid? [True, True] Translation: X:195.01, Y:-14.94, Z:-4.03 [[ 9.99932071e-01 4.62094390e-03 1.07004447e-02 1.95013986e+02] [-4.60866248e-03 9.99988693e-01 -1.17212305e-03 -1.49350542e+01] [-1.07057401e-02 1.12272869e-03 9.99942062e-01 -4.03162476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602414037 meters 0.09776566663891972 Centerline is valid? [True, True] Translation: X:195.08, Y:-14.94, Z:-4.03 [[ 9.99941472e-01 4.80296049e-03 9.69457802e-03 1.95076099e+02] [-4.79287552e-03 9.99987949e-01 -1.06323407e-03 -1.49376506e+01] [-9.69956786e-03 1.01670693e-03 9.99952441e-01 -4.03406109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662414037 meters 0.10075781993241908 Centerline is valid? [True, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99951993e-01 3.33959006e-03 9.21187826e-03 1.95078675e+02] [-3.31552414e-03 9.99991054e-01 -2.62652268e-03 -1.49366494e+01] [-9.22056737e-03 2.59585438e-03 9.99954120e-01 -4.03634007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722414037 meters 0.09996450884213647 Centerline is valid? [False, True] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99949481e-01 3.48519250e-03 9.42812282e-03 1.95078521e+02] [-3.46465327e-03 9.99991591e-01 -2.19396328e-03 -1.49378962e+01] [-9.43568993e-03 2.16118727e-03 9.99953147e-01 -4.03671999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782414037 meters 0.1022867584974481 Centerline is valid? [True, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99948518e-01 3.03359300e-03 9.68294582e-03 1.95077541e+02] [-3.00811501e-03 9.99991978e-01 -2.64470350e-03 -1.49373364e+01] [-9.69089110e-03 2.61543993e-03 9.99949622e-01 -4.03600173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842414037 meters 0.1010987774703818 Centerline is valid? [False, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99943072e-01 2.93627976e-03 1.02581694e-02 1.95076320e+02] [-2.91467427e-03 9.99993504e-01 -2.12048996e-03 -1.49396971e+01] [-1.02643291e-02 2.09047002e-03 9.99945135e-01 -4.03568240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902414037 meters 0.10069048875812925 Centerline is valid? [False, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99939368e-01 2.93829603e-03 1.06125396e-02 1.95075638e+02] [-2.92084062e-03 9.99994357e-01 -1.65991620e-03 -1.49417329e+01] [-1.06173570e-02 1.62881802e-03 9.99942308e-01 -4.03566179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96241403699997 meters 0.10407101045639526 Centerline is valid? [False, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99937658e-01 3.13507734e-03 1.07168703e-02 1.95075801e+02] [-3.12229136e-03 9.99994394e-01 -1.20959250e-03 -1.49426784e+01] [-1.07206024e-02 1.17605590e-03 9.99941841e-01 -4.03620147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02241403699998 meters 0.10212620032193322 Centerline is valid? [False, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99940340e-01 2.93207228e-03 1.05222973e-02 1.95076058e+02] [-2.91471741e-03 9.99994367e-01 -1.66429846e-03 -1.49413707e+01] [-1.05271178e-02 1.63352965e-03 9.99943254e-01 -4.03599818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08241403699998 meters 0.10127528406974262 Centerline is valid? [False, False] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99946439e-01 3.14276338e-03 9.86112283e-03 1.95077406e+02] [-3.12365600e-03 9.99993215e-01 -1.95245118e-03 -1.49397234e+01] [-9.86719202e-03 1.92154385e-03 9.99949472e-01 -4.03614452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14241403699998 meters 0.09961549442834072 Centerline is valid? [False, True] Translation: X:195.08, Y:-14.94, Z:-4.04 [[ 9.99953411e-01 3.40869510e-03 9.03090959e-03 1.95079110e+02] [-3.38556639e-03 9.99990953e-01 -2.57511147e-03 -1.49367260e+01] [-9.03960566e-03 2.54441675e-03 9.99955905e-01 -4.03638366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20241403699998 meters 0.09899307091658784 Centerline is valid? [True, True] Translation: X:195.14, Y:-14.94, Z:-4.04 [[ 9.99931996e-01 6.96983684e-03 9.35010944e-03 1.95139943e+02] [-6.95980881e-03 9.99975170e-01 -1.10461381e-03 -1.49404837e+01] [-9.35757625e-03 1.03946372e-03 9.99955677e-01 -4.03948660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26241403699999 meters 0.09784228758638672 Centerline is valid? [True, True] Translation: X:195.20, Y:-14.94, Z:-4.04 [[ 9.99895283e-01 1.19081408e-02 8.22314171e-03 1.95200956e+02] [-1.19005470e-02 9.99928714e-01 -9.71781165e-04 -1.49426414e+01] [-8.23412762e-03 8.73819517e-04 9.99965717e-01 -4.04361614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322414037 meters 0.09676372942008353 Centerline is valid? [True, True] Translation: X:195.26, Y:-14.94, Z:-4.04 [[ 9.99846517e-01 1.53099370e-02 8.51757272e-03 1.95262256e+02] [-1.53019104e-02 9.99882412e-01 -1.00673584e-03 -1.49431643e+01] [-8.53198422e-03 8.76246185e-04 9.99963218e-01 -4.04382585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382414037 meters 0.0965491652951542 Centerline is valid? [True, True] Translation: X:195.32, Y:-14.95, Z:-4.04 [[ 9.99821138e-01 1.63117476e-02 9.57180506e-03 1.95322532e+02] [-1.63016515e-02 9.99866479e-01 -1.13185549e-03 -1.49469732e+01] [-9.58898957e-03 9.75616818e-04 9.99953549e-01 -4.04478019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442414037 meters 0.09581351697788265 Centerline is valid? [True, True] Translation: X:195.38, Y:-14.95, Z:-4.05 [[ 9.99831663e-01 1.57071901e-02 9.48314186e-03 1.95381823e+02] [-1.56972508e-02 9.99876161e-01 -1.12163837e-03 -1.49510467e+01] [-9.49958527e-03 9.72590306e-04 9.99954405e-01 -4.04695202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502414037 meters 0.09443278751307617 Centerline is valid? [True, True] Translation: X:195.44, Y:-14.95, Z:-4.05 [[ 9.99883708e-01 1.26026832e-02 8.58739620e-03 1.95442948e+02] [-1.25944289e-02 9.99920172e-01 -1.01461057e-03 -1.49523917e+01] [-8.59949750e-03 9.06339226e-04 9.99962613e-01 -4.04903156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562414037 meters 0.09496119141931612 Centerline is valid? [True, True] Translation: X:195.50, Y:-14.96, Z:-4.05 [[ 9.99942287e-01 8.71373325e-03 6.28446668e-03 1.95503257e+02] [-8.70923783e-03 9.99961798e-01 -7.42334190e-04 -1.49586002e+01] [-6.29069510e-03 6.87558432e-04 9.99979977e-01 -4.05213956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622414037 meters 0.10056630255324066 Centerline is valid? [True, False] Translation: X:195.50, Y:-14.96, Z:-4.05 [[ 9.99944842e-01 8.33518018e-03 6.39047476e-03 1.95503086e+02] [-8.32729039e-03 9.99964533e-01 -1.26023428e-03 -1.49570013e+01] [-6.40075239e-03 1.20694943e-03 9.99978787e-01 -4.05218964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68241403699997 meters 0.10084689324294475 Centerline is valid? [False, False] Translation: X:195.50, Y:-14.96, Z:-4.05 [[ 9.99947534e-01 7.93398322e-03 6.47928049e-03 1.95502581e+02] [-7.92204954e-03 9.99966880e-01 -1.86541339e-03 -1.49556444e+01] [-6.49386606e-03 1.81398634e-03 9.99977269e-01 -4.05166109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74241403699997 meters 0.1019369526006928 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99997560e-01 2.12715092e-03 -5.96683882e-04 1.95511353e+02] [-2.12700039e-03 9.99997706e-01 2.52806448e-04 -1.49531526e+01] [ 5.97220270e-04 -2.51536684e-04 9.99999790e-01 -4.04662253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80241403699998 meters 0.10257343407180489 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99997617e-01 2.13452522e-03 -4.57500843e-04 1.95511400e+02] [-2.13434842e-03 9.99997648e-01 3.86594623e-04 -1.49531582e+01] [ 4.58324963e-04 -3.85617236e-04 9.99999821e-01 -4.04713508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86241403699998 meters 0.1035238812584217 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99997684e-01 2.14085015e-03 -2.20838645e-04 1.95511311e+02] [-2.14071810e-03 9.99997531e-01 5.96468755e-04 -1.49533364e+01] [ 2.22115050e-04 -5.95994620e-04 9.99999798e-01 -4.04770330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92241403699998 meters 0.10584163396681105 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99997946e-01 2.02190764e-03 -1.41519729e-04 1.95511217e+02] [-2.02183888e-03 9.99997839e-01 4.84295352e-04 -1.49527795e+01] [ 1.42498623e-04 -4.84008227e-04 9.99999873e-01 -4.04780374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98241403699998 meters 0.10485691480995854 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99998146e-01 1.92460499e-03 -6.71895363e-05 1.95510885e+02] [-1.92457763e-03 9.99998066e-01 4.04913165e-04 -1.49530083e+01] [ 6.79687042e-05 -4.04783102e-04 9.99999916e-01 -4.04752686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042414037 meters 0.10538880389140609 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99998088e-01 1.94418040e-03 2.08021034e-04 1.95510249e+02] [-1.94432463e-03 9.99997868e-01 6.95402504e-04 -1.49545596e+01] [-2.06668603e-04 -6.95805635e-04 9.99999737e-01 -4.04737061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102414037 meters 0.10708166333348133 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997297e-01 2.31832481e-03 1.74794284e-04 1.95510466e+02] [-2.31855073e-03 9.99996463e-01 1.30356229e-03 -1.49562511e+01] [-1.71771585e-04 -1.30396404e-03 9.99999135e-01 -4.04754992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162414037 meters 0.10323763596699252 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997037e-01 2.43176022e-03 1.09865301e-04 1.95510535e+02] [-2.43192324e-03 9.99995904e-01 1.50890156e-03 -1.49568686e+01] [-1.06195564e-04 -1.50916428e-03 9.99998856e-01 -4.04747135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222414037 meters 0.10257819636210111 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99996829e-01 2.51239332e-03 1.73842084e-04 1.95510317e+02] [-2.51268891e-03 9.99995361e-01 1.72153752e-03 -1.49578967e+01] [-1.69516098e-04 -1.72196887e-03 9.99998503e-01 -4.04732970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282414037 meters 0.10686774492439272 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99996208e-01 2.75400565e-03 8.35331593e-07 1.95510802e+02] [-2.75400213e-03 9.99994345e-01 1.93031935e-03 -1.49583048e+01] [ 4.48078353e-06 -1.93031433e-03 9.99998137e-01 -4.04749791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342414037 meters 0.10176026792070986 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99996992e-01 2.43685047e-03 -2.78993502e-04 1.95511054e+02] [-2.43652646e-03 9.99996364e-01 1.15585130e-03 -1.49562032e+01] [ 2.81809124e-04 -1.15516805e-03 9.99999293e-01 -4.04703790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402414037 meters 0.10208039837032544 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997925e-01 2.00894696e-03 -3.39213315e-04 1.95510382e+02] [-2.00880634e-03 9.99997896e-01 4.14379216e-04 -1.49552083e+01] [ 3.40045067e-04 -4.13696942e-04 9.99999857e-01 -4.04582531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46241403699997 meters 0.10172015149414972 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997283e-01 2.29777718e-03 -3.92007465e-04 1.95510864e+02] [-2.29746883e-03 9.99997053e-01 7.85241482e-04 -1.49557551e+01] [ 3.93810620e-04 -7.84338723e-04 9.99999615e-01 -4.04636795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52241403699998 meters 0.10334723819731029 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99996249e-01 2.66864569e-03 -6.16755526e-04 1.95511921e+02] [-2.66792133e-03 9.99995754e-01 1.17233291e-03 -1.49558688e+01] [ 6.19881448e-04 -1.17068306e-03 9.99999123e-01 -4.04728970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58241403699998 meters 0.10372386251366085 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99996626e-01 2.44979183e-03 -8.63730037e-04 1.95512029e+02] [-2.44925102e-03 9.99996804e-01 6.26636841e-04 -1.49544972e+01] [ 8.65262406e-04 -6.24519235e-04 9.99999431e-01 -4.04671025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64241403699998 meters 0.10004453051276643 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99995774e-01 2.67299695e-03 -1.14328398e-03 1.95512857e+02] [-2.67218050e-03 9.99996174e-01 7.15064200e-04 -1.49541740e+01] [ 1.14519097e-03 -7.12006117e-04 9.99999091e-01 -4.04704827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70241403699998 meters 0.10638046533124869 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.95, Z:-4.05 [[ 9.99996167e-01 2.56926196e-03 -1.03187077e-03 1.95512419e+02] [-2.56860325e-03 9.99996497e-01 6.39189143e-04 -1.49546153e+01] [ 1.03350940e-03 -6.36536226e-04 9.99999263e-01 -4.04673185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76241403699999 meters 0.09994405155362558 Centerline is valid? [False, True] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99996927e-01 2.36846819e-03 -7.32935319e-04 1.95511557e+02] [-2.36803938e-03 9.99997025e-01 5.85378026e-04 -1.49552421e+01] [ 7.34319588e-04 -5.83640608e-04 9.99999560e-01 -4.04635566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822414037 meters 0.11143326544156874 Centerline is valid? [True, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997243e-01 2.28003076e-03 -5.60867789e-04 1.95510904e+02] [-2.27966431e-03 9.99997188e-01 6.53140604e-04 -1.49559994e+01] [ 5.62355393e-04 -6.51860214e-04 9.99999629e-01 -4.04588004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882414037 meters 0.09972923080941988 Centerline is valid? [False, True] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997772e-01 2.04389456e-03 -5.28112071e-04 1.95510479e+02] [-2.04371453e-03 9.99997853e-01 3.41215903e-04 -1.49556144e+01] [ 5.28808347e-04 -3.40135833e-04 9.99999802e-01 -4.04534578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942414037 meters 0.10357451095698322 Centerline is valid? [True, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997751e-01 2.03971421e-03 -5.80577436e-04 1.95510609e+02] [-2.03954779e-03 9.99997879e-01 2.87092254e-04 -1.49552773e+01] [ 5.81161791e-04 -2.85907493e-04 9.99999790e-01 -4.04534645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002414037 meters 0.10126313374665072 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997862e-01 2.03493380e-03 -3.66777942e-04 1.95510344e+02] [-2.03476364e-03 9.99997822e-01 4.63712574e-04 -1.49561311e+01] [ 3.67720768e-04 -4.62965276e-04 9.99999825e-01 -4.04560191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062414037 meters 0.10081721806424467 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997633e-01 2.16765095e-03 -1.85715801e-04 1.95510379e+02] [-2.16749408e-03 9.99997298e-01 8.40734803e-04 -1.49571134e+01] [ 1.87537719e-04 -8.40330275e-04 9.99999629e-01 -4.04618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122414037 meters 0.1022573131582462 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997767e-01 2.08932673e-03 -3.17666916e-04 1.95510520e+02] [-2.08912023e-03 9.99997607e-01 6.48990108e-04 -1.49564822e+01] [ 3.19022109e-04 -6.48325014e-04 9.99999739e-01 -4.04597473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18241403699997 meters 0.10143839152376737 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997548e-01 2.11366258e-03 -6.60993597e-04 1.95511002e+02] [-2.11341423e-03 9.99997696e-01 3.76190525e-04 -1.49553731e+01] [ 6.61787214e-04 -3.74792649e-04 9.99999711e-01 -4.04564598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24241403699997 meters 0.10075033048987633 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.04 [[ 9.99997997e-01 1.91335481e-03 -5.87673572e-04 1.95510336e+02] [-1.91328014e-03 9.99998162e-01 1.27592839e-04 -1.49554791e+01] [ 5.87916622e-04 -1.26468199e-04 9.99999819e-01 -4.04486090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30241403699998 meters 0.10074220558452689 Centerline is valid? [False, False] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997998e-01 1.93399394e-03 -5.12801650e-04 1.95510323e+02] [-1.93386896e-03 9.99998100e-01 2.44095220e-04 -1.49559763e+01] [ 5.13272755e-04 -2.43103041e-04 9.99999839e-01 -4.04507977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36241403699998 meters 0.096848591291126 Centerline is valid? [False, True] Translation: X:195.51, Y:-14.96, Z:-4.05 [[ 9.99997746e-01 2.02741673e-03 -6.30279922e-04 1.95510934e+02] [-2.02722199e-03 9.99997897e-01 3.09451758e-04 -1.49557485e+01] [ 6.30905984e-04 -3.08173343e-04 9.99999753e-01 -4.04564489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42241403699998 meters 0.09994921604124557 Centerline is valid? [True, True] Translation: X:195.57, Y:-14.97, Z:-4.05 [[ 9.99993794e-01 3.13807890e-03 -1.60155026e-03 1.95569361e+02] [-3.13778277e-03 9.99995060e-01 1.87376737e-04 -1.49659209e+01] [ 1.60213035e-03 -1.82350257e-04 9.99998700e-01 -4.04942584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48241403699998 meters 0.10028275651679418 Centerline is valid? [True, False] Translation: X:195.57, Y:-14.96, Z:-4.05 [[ 9.99993675e-01 3.01492401e-03 -1.88708188e-03 1.95569958e+02] [-3.01554663e-03 9.99995400e-01 -3.27183227e-04 -1.49639891e+01] [ 1.88608676e-03 3.32871741e-04 9.99998166e-01 -4.04945195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542414037 meters 0.09929894616279389 Centerline is valid? [False, True] Translation: X:195.57, Y:-14.96, Z:-4.05 [[ 9.99994922e-01 2.66662144e-03 -1.74491982e-03 1.95569432e+02] [-2.66806712e-03 9.99996099e-01 -8.26708549e-04 -1.49630661e+01] [ 1.74270850e-03 8.31359914e-04 9.99998136e-01 -4.04909704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602414037 meters 0.09623912018748265 Centerline is valid? [True, True] Translation: X:195.63, Y:-14.96, Z:-4.05 [[ 9.99994613e-01 2.94448700e-03 -1.45041943e-03 1.95628394e+02] [-2.94425099e-03 9.99995652e-01 1.64831024e-04 -1.49624524e+01] [ 1.45089846e-03 -1.60559738e-04 9.99998935e-01 -4.04864650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662414037 meters 0.0972906651678032 Centerline is valid? [True, True] Translation: X:195.69, Y:-14.97, Z:-4.05 [[ 9.99991830e-01 3.41813543e-03 -2.15777414e-03 1.95686513e+02] [-3.41761236e-03 9.99994130e-01 2.46051512e-04 -1.49694267e+01] [ 2.15860251e-03 -2.38675066e-04 9.99997642e-01 -4.05044489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722414037 meters 0.0980828888054288 Centerline is valid? [True, True] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99990419e-01 3.46138114e-03 -2.67968740e-03 1.95744659e+02] [-3.46057380e-03 9.99993965e-01 3.05860568e-04 -1.49758010e+01] [ 2.68072993e-03 -2.96584382e-04 9.99996363e-01 -4.05321137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782414037 meters 0.1004295494385743 Centerline is valid? [True, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99991210e-01 3.34272577e-03 -2.53110439e-03 1.95744669e+02] [-3.34222004e-03 9.99994394e-01 2.04008857e-04 -1.49751448e+01] [ 2.53177214e-03 -1.95547556e-04 9.99996776e-01 -4.05368964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842414037 meters 0.10019290060441219 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99992645e-01 3.15552783e-03 -2.17987891e-03 1.95743999e+02] [-3.15507959e-03 9.99995001e-01 2.09034313e-04 -1.49755909e+01] [ 2.18052762e-03 -2.02155084e-04 9.99997602e-01 -4.05375278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902414037 meters 0.10420151298887967 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99993817e-01 2.96331750e-03 -1.89316680e-03 1.95743457e+02] [-2.96297223e-03 9.99995593e-01 1.85158088e-04 -1.49755894e+01] [ 1.89370714e-03 -1.79547543e-04 9.99998191e-01 -4.05376311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96241403699997 meters 0.10317815744486923 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99994284e-01 2.85956315e-03 -1.80438805e-03 1.95743282e+02] [-2.85936432e-03 9.99995906e-01 1.12762707e-04 -1.49752589e+01] [ 1.80470311e-03 -1.07602660e-04 9.99998366e-01 -4.05377936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02241403699998 meters 0.11021872364522362 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99995916e-01 2.54984220e-03 -1.29079873e-03 1.95742093e+02] [-2.54969890e-03 9.99996743e-01 1.12646117e-04 -1.49761724e+01] [ 1.29108176e-03 -1.09354509e-04 9.99999161e-01 -4.05353674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08241403699998 meters 0.10358967784778425 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99996692e-01 2.32714227e-03 -1.09559860e-03 1.95741302e+02] [-2.32713460e-03 9.99997292e-01 8.27799510e-06 -1.49765855e+01] [ 1.09561490e-03 -5.72836231e-06 9.99999400e-01 -4.05293894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14241403699998 meters 0.1048621399591772 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99997431e-01 2.04007001e-03 -9.88373377e-04 1.95740815e+02] [-2.04035245e-03 9.99997878e-01 -2.84838962e-04 -1.49760963e+01] [ 9.87790188e-04 2.86854860e-04 9.99999471e-01 -4.05252540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20241403699998 meters 0.10265343297675997 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99997447e-01 2.10808685e-03 -8.13716178e-04 1.95740650e+02] [-2.10807752e-03 9.99997778e-01 1.23277072e-05 -1.49769051e+01] [ 8.13740357e-04 -1.06122989e-05 9.99999669e-01 -4.05284471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26241403699999 meters 0.104071130319551 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99997464e-01 2.21505299e-03 -4.05847183e-04 1.95739964e+02] [-2.21478812e-03 9.99997335e-01 6.51926321e-04 -1.49792928e+01] [ 4.07290152e-04 -6.51025802e-04 9.99999705e-01 -4.05300108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322414037 meters 0.11004654681871393 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99998075e-01 1.95276701e-03 1.90906360e-04 1.95738253e+02] [-1.95294849e-03 9.99997637e-01 9.55101217e-04 -1.49818894e+01] [-1.89040819e-04 -9.55472208e-04 9.99999526e-01 -4.05211671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382414037 meters 0.10895232000928151 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99998180e-01 1.86215884e-03 4.14861966e-04 1.95737561e+02] [-1.86260021e-03 9.99997697e-01 1.06605928e-03 -1.49827975e+01] [-4.12875839e-04 -1.06683007e-03 9.99999346e-01 -4.05175095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442414037 meters 0.10925605963115691 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.98, Z:-4.05 [[ 9.99997872e-01 1.98803001e-03 5.51544771e-04 1.95736963e+02] [-1.98886483e-03 9.99996871e-01 1.51719589e-03 -1.49848233e+01] [-5.48526814e-04 -1.51828961e-03 9.99998697e-01 -4.05126733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502414037 meters 0.10524822778523445 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.99, Z:-4.05 [[ 9.99997691e-01 2.04991536e-03 6.44816193e-04 1.95736441e+02] [-2.05105773e-03 9.99996320e-01 1.77598595e-03 -1.49861982e+01] [-6.41173199e-04 -1.77730440e-03 9.99998215e-01 -4.05077314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562414037 meters 0.10549413713297505 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.99, Z:-4.05 [[ 9.99999076e-01 -1.35783162e-03 6.89031133e-05 1.95737721e+02] [ 1.35792757e-03 9.99998081e-01 -1.41223723e-03 -1.49884611e+01] [-6.69854007e-05 1.41232949e-03 9.99999000e-01 -4.05097858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622414037 meters 0.1068508343618576 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.99, Z:-4.05 [[ 9.99999491e-01 -9.34995637e-04 3.77872868e-04 1.95737168e+02] [ 9.35121173e-04 9.99999508e-01 -3.32177105e-04 -1.49920507e+01] [-3.77562098e-04 3.32530293e-04 9.99999873e-01 -4.05107883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68241403699997 meters 0.10656521127409803 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.99, Z:-4.05 [[ 9.99999635e-01 -8.03546311e-04 2.91347794e-04 1.95737187e+02] [ 8.03574201e-04 9.99999673e-01 -9.56230825e-05 -1.49929676e+01] [-2.91270861e-04 9.58571672e-05 9.99999953e-01 -4.05084994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74241403699997 meters 0.108997559948221 Centerline is valid? [False, False] Translation: X:195.74, Y:-14.99, Z:-4.05 [[ 9.99999980e-01 -1.91710250e-04 5.08839619e-05 1.95737997e+02] [ 1.91672015e-04 9.99999700e-01 7.50363537e-04 -1.49946930e+01] [-5.10277990e-05 -7.50353769e-04 9.99999717e-01 -4.05136765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80241403699998 meters 0.10841230943893036 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.00, Z:-4.05 [[ 9.99999990e-01 1.05329189e-04 -9.28410125e-05 1.95738105e+02] [-1.05218890e-04 9.99999290e-01 1.18724800e-03 -1.49961815e+01] [ 9.29659984e-05 -1.18723822e-03 9.99999291e-01 -4.05111307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86241403699998 meters 0.10618278581365351 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.00, Z:-4.05 [[ 9.99999977e-01 1.23891192e-04 -1.75360664e-04 1.95737894e+02] [-1.23683137e-04 9.99999289e-01 1.18595735e-03 -1.49967001e+01] [ 1.75507469e-04 -1.18593563e-03 9.99999281e-01 -4.05053552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92241403699998 meters 0.10732399277848252 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.00, Z:-4.05 [[ 9.99999853e-01 4.21614860e-04 -3.39727117e-04 1.95738039e+02] [-4.21066867e-04 9.99998613e-01 1.61149623e-03 -1.49977638e+01] [ 3.40406076e-04 -1.61135295e-03 9.99998644e-01 -4.05027388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98241403699998 meters 0.10443727642583084 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.00, Z:-4.05 [[ 9.99999608e-01 8.13506120e-04 -3.48856144e-04 1.95738041e+02] [-8.12708248e-04 9.99997068e-01 2.28118386e-03 -1.49999632e+01] [ 3.50710878e-04 -2.28089944e-03 9.99997337e-01 -4.05024645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042414037 meters 0.10510772700827081 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.00, Z:-4.05 [[ 9.99999295e-01 1.17075611e-03 -1.97392355e-04 1.95737864e+02] [-1.17014989e-03 9.99994683e-01 3.04379607e-03 -1.50023637e+01] [ 2.00954848e-04 -3.04356295e-03 9.99995348e-01 -4.05044875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102414037 meters 0.1059472271647885 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.00, Z:-4.05 [[ 9.99996768e-01 -2.46472134e-03 -6.24525047e-04 1.95738690e+02] [ 2.46446427e-03 9.99996878e-01 -4.12057869e-04 -1.50041670e+01] [ 6.25538705e-04 4.10517417e-04 9.99999720e-01 -4.05041650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162414037 meters 0.10222545936218112 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99997293e-01 -2.25543188e-03 -5.71242427e-04 1.95738254e+02] [ 2.25547812e-03 9.99997453e-01 8.03186441e-05 -1.50060928e+01] [ 5.71059819e-04 -8.16068515e-05 9.99999834e-01 -4.04992863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222414037 meters 0.1010403662924114 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99997828e-01 -2.00545140e-03 -5.67363983e-04 1.95738028e+02] [ 2.00578578e-03 9.99997815e-01 5.89398569e-04 -1.50079430e+01] [ 5.66180733e-04 -5.90535300e-04 9.99999665e-01 -4.04960895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282414037 meters 0.10104198436093363 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99998932e-01 -1.39116091e-03 -4.48439307e-04 1.95738126e+02] [ 1.39194523e-03 9.99997494e-01 1.75345301e-03 -1.50109177e+01] [ 4.45998848e-04 -1.75407534e-03 9.99998362e-01 -4.05006624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342414037 meters 0.10415380428377433 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99999451e-01 -9.36794719e-04 -4.68988176e-04 1.95738520e+02] [ 9.37977437e-04 9.99996365e-01 2.52801341e-03 -1.50125633e+01] [ 4.66618241e-04 -2.52845192e-03 9.99996695e-01 -4.05060408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402414037 meters 0.10597112187281924 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99999726e-01 -5.93118679e-04 -4.42603003e-04 1.95738568e+02] [ 5.94480299e-04 9.99995072e-01 3.08262709e-03 -1.50140833e+01] [ 4.40772459e-04 -3.08288937e-03 9.99995151e-01 -4.05072150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46241403699997 meters 0.10469000969758084 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99999548e-01 -8.68321460e-04 -3.86937086e-04 1.95738000e+02] [ 8.69361404e-04 9.99995989e-01 2.69561710e-03 -1.50137522e+01] [ 3.84594872e-04 -2.69595227e-03 9.99996292e-01 -4.05003423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52241403699998 meters 0.09969983153631187 Centerline is valid? [False, True] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99999603e-01 -7.51636551e-04 -4.77927474e-04 1.95737975e+02] [ 7.52995943e-04 9.99995654e-01 2.85055875e-03 -1.50144333e+01] [ 4.75782813e-04 -2.85091750e-03 9.99995823e-01 -4.04973650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58241403699998 meters 0.10499233627539988 Centerline is valid? [True, False] Translation: X:195.74, Y:-15.02, Z:-4.05 [[ 9.99992263e-01 -3.65871140e-03 -1.44466378e-03 1.95740846e+02] [ 3.65846175e-03 9.99993292e-01 -1.75413969e-04 -1.50150668e+01] [ 1.44529588e-03 1.70127364e-04 9.99998941e-01 -4.05122898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64241403699998 meters 0.1004475069162168 Centerline is valid? [False, False] Translation: X:195.74, Y:-15.02, Z:-4.05 [[ 9.99993014e-01 -3.40104218e-03 -1.55049654e-03 1.95741312e+02] [ 3.40131513e-03 9.99994200e-01 1.73437708e-04 -1.50153717e+01] [ 1.54989768e-03 -1.78710224e-04 9.99998783e-01 -4.05161295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70241403699998 meters 0.09759118816909904 Centerline is valid? [False, True] Translation: X:195.74, Y:-15.01, Z:-4.05 [[ 9.99992286e-01 -3.54088690e-03 -1.70029966e-03 1.95741078e+02] [ 3.54057742e-03 9.99993715e-01 -1.84987983e-04 -1.50147838e+01] [ 1.70094400e-03 1.78966513e-04 9.99998537e-01 -4.05086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76241403699999 meters 0.09888754058603293 Centerline is valid? [True, True] Translation: X:195.80, Y:-15.02, Z:-4.05 [[ 9.99997587e-01 -1.40284943e-03 -1.69038087e-03 1.95800082e+02] [ 1.40318448e-03 9.99998996e-01 1.97040820e-04 -1.50240285e+01] [ 1.69010275e-03 -1.99412260e-04 9.99998552e-01 -4.05312769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822414037 meters 0.1048775699829507 Centerline is valid? [True, False] Translation: X:195.80, Y:-15.02, Z:-4.05 [[ 9.99996526e-01 -6.14071284e-04 -2.56324895e-03 1.95802754e+02] [ 6.15322266e-04 9.99999692e-01 4.87285257e-04 -1.50224283e+01] [ 2.56294893e-03 -4.88860789e-04 9.99996596e-01 -4.05476749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882414037 meters 0.09969531399682235 Centerline is valid? [False, True] Translation: X:195.80, Y:-15.02, Z:-4.05 [[ 9.99995387e-01 -9.09358220e-04 -2.89824209e-03 1.95803263e+02] [ 9.08231364e-04 9.99999511e-01 -3.90099223e-04 -1.50199231e+01] [ 2.89859542e-03 3.87465149e-04 9.99995724e-01 -4.05459723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942414037 meters 0.10736181931395417 Centerline is valid? [True, False] Translation: X:195.80, Y:-15.02, Z:-4.05 [[ 9.99994061e-01 -1.03065455e-03 -3.28862149e-03 1.95803838e+02] [ 1.02703380e-03 9.99998865e-01 -1.10249267e-03 -1.50173601e+01] [ 3.28975405e-03 1.09910860e-03 9.99993985e-01 -4.05430582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002414037 meters 0.09573531649559477 Centerline is valid? [False, True] Translation: X:195.80, Y:-15.02, Z:-4.05 [[ 9.99993840e-01 -1.17474966e-03 -3.30770680e-03 1.95803917e+02] [ 1.17007746e-03 9.99998316e-01 -1.41410164e-03 -1.50163374e+01] [ 3.30936245e-03 1.41022265e-03 9.99993530e-01 -4.05434453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062414037 meters 0.0970075200400562 Centerline is valid? [True, True] Translation: X:195.86, Y:-15.02, Z:-4.06 [[ 9.99986928e-01 5.82626880e-04 -5.07984147e-03 1.95862854e+02] [-5.79853065e-04 9.99999682e-01 5.47499401e-04 -1.50221163e+01] [ 5.08015884e-03 -5.44546682e-04 9.99986948e-01 -4.05773678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122414037 meters 0.09637434968065428 Centerline is valid? [True, True] Translation: X:195.92, Y:-15.02, Z:-4.06 [[ 9.99978733e-01 3.25643557e-03 -5.65053779e-03 1.95923011e+02] [-3.25304102e-03 9.99994523e-01 6.09834528e-04 -1.50245237e+01] [ 5.65249273e-03 -5.91440127e-04 9.99983850e-01 -4.06104572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18241403699997 meters 0.09429238051408853 Centerline is valid? [True, True] Translation: X:195.98, Y:-15.03, Z:-4.06 [[ 9.99973772e-01 5.14774157e-03 -5.09476712e-03 1.95983392e+02] [-5.14500838e-03 9.99986613e-01 5.49430954e-04 -1.50260572e+01] [ 5.09752725e-03 -5.23203923e-04 9.99986871e-01 -4.06183946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24241403699997 meters 0.09641129571345464 Centerline is valid? [True, True] Translation: X:196.04, Y:-15.03, Z:-4.06 [[ 9.99983139e-01 4.49283465e-03 -3.67925646e-03 1.96040169e+02] [-4.49141247e-03 9.99989836e-01 3.94712289e-04 -1.50346743e+01] [ 3.68099244e-03 -3.78180575e-04 9.99993154e-01 -4.06207984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30241403699998 meters 0.09943120735793974 Centerline is valid? [True, True] Translation: X:196.10, Y:-15.05, Z:-4.06 [[ 9.99991780e-01 2.73143029e-03 -2.99650721e-03 1.96098802e+02] [-2.73047549e-03 9.99996220e-01 3.22681869e-04 -1.50465931e+01] [ 2.99737726e-03 -3.14497327e-04 9.99995458e-01 -4.06399917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36241403699998 meters 0.10177966104986377 Centerline is valid? [True, False] Translation: X:196.10, Y:-15.05, Z:-4.06 [[ 9.99992953e-01 2.60596299e-03 -2.70230492e-03 1.96098442e+02] [-2.60497427e-03 9.99996539e-01 3.69332786e-04 -1.50468791e+01] [ 2.70325804e-03 -3.62290749e-04 9.99996281e-01 -4.06428539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42241403699998 meters 0.09685895927219697 Centerline is valid? [False, True] Translation: X:196.10, Y:-15.05, Z:-4.06 [[ 9.99993663e-01 2.41650607e-03 -2.61426403e-03 1.96098455e+02] [-2.41628538e-03 9.99997077e-01 8.75764252e-05 -1.50457921e+01] [ 2.61446802e-03 -8.12590623e-05 9.99996579e-01 -4.06453477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48241403699998 meters 0.09944687426580824 Centerline is valid? [True, True] Translation: X:196.16, Y:-15.06, Z:-4.07 [[ 9.99996751e-01 1.70336434e-03 -1.89669681e-03 1.96156296e+02] [-1.70296863e-03 9.99998528e-01 2.10226512e-04 -1.50557618e+01] [ 1.89705212e-03 -2.06995814e-04 9.99998179e-01 -4.06759041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542414037 meters 0.09821215460662051 Centerline is valid? [True, True] Translation: X:196.22, Y:-15.06, Z:-4.07 [[ 9.99998623e-01 1.18690596e-03 -1.16002576e-03 1.96216255e+02] [-1.18675775e-03 9.99999288e-01 1.28451872e-04 -1.50593578e+01] [ 1.16017740e-03 -1.27075026e-04 9.99999319e-01 -4.06876174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602414037 meters 0.09592210906777805 Centerline is valid? [True, True] Translation: X:196.28, Y:-15.06, Z:-4.07 [[ 9.99998233e-01 1.38671255e-03 -1.26929189e-03 1.96276945e+02] [-1.38653572e-03 9.99999029e-01 1.40178463e-04 -1.50582780e+01] [ 1.26948504e-03 -1.38418297e-04 9.99999185e-01 -4.06871660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662414037 meters 0.10123053307782598 Centerline is valid? [True, False] Translation: X:196.28, Y:-15.06, Z:-4.07 [[ 9.99997906e-01 1.49177281e-03 -1.40102730e-03 1.96277551e+02] [-1.49154812e-03 9.99998875e-01 1.61405211e-04 -1.50576800e+01] [ 1.40126650e-03 -1.59315173e-04 9.99999006e-01 -4.06921812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722414037 meters 0.09709909583214271 Centerline is valid? [False, True] Translation: X:196.28, Y:-15.06, Z:-4.07 [[ 9.99998558e-01 1.01368701e-03 -1.36242506e-03 1.96277388e+02] [-1.01460656e-03 9.99999258e-01 -6.74416734e-04 -1.50553514e+01] [ 1.36174040e-03 6.75798087e-04 9.99998844e-01 -4.06909594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782414037 meters 0.09698104179183563 Centerline is valid? [True, True] Translation: X:196.34, Y:-15.06, Z:-4.07 [[ 9.99998214e-01 1.01048397e-03 -1.59693655e-03 1.96336727e+02] [-1.01020741e-03 9.99999475e-01 1.73978040e-04 -1.50594702e+01] [ 1.59711151e-03 -1.72364492e-04 9.99998710e-01 -4.07019397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842414037 meters 0.09710870997372123 Centerline is valid? [True, True] Translation: X:196.40, Y:-15.06, Z:-4.07 [[ 9.99997846e-01 9.93105693e-04 -1.82254633e-03 1.96396581e+02] [-9.92745334e-04 9.99999488e-01 1.98617145e-04 -1.50643302e+01] [ 1.82274265e-03 -1.96807393e-04 9.99998319e-01 -4.07197974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902414037 meters 0.09625753181794028 Centerline is valid? [True, True] Translation: X:196.46, Y:-15.07, Z:-4.07 [[ 9.99996598e-01 1.09899111e-04 -2.60598766e-03 1.96455715e+02] [-1.09159941e-04 9.99999954e-01 2.83783576e-04 -1.50678019e+01] [ 2.60601872e-03 -2.83498141e-04 9.99996564e-01 -4.07341973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96241403699997 meters 0.09659780752541552 Centerline is valid? [True, True] Translation: X:196.52, Y:-15.07, Z:-4.08 [[ 9.99995479e-01 -1.62687705e-03 -2.52883039e-03 1.96515171e+02] [ 1.62758108e-03 9.99998637e-01 2.76368839e-04 -1.50731873e+01] [ 2.52837733e-03 -2.80483466e-04 9.99996764e-01 -4.07505254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02241403699998 meters 0.10091092091944137 Centerline is valid? [True, False] Translation: X:196.52, Y:-15.07, Z:-4.08 [[ 9.99995694e-01 -1.82130773e-03 -2.30098005e-03 1.96515168e+02] [ 1.82152939e-03 9.99998337e-01 9.42372693e-05 -1.50720327e+01] [ 2.30080459e-03 -9.84281663e-05 9.99997348e-01 -4.07571716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08241403699998 meters 0.10092437088438276 Centerline is valid? [False, False] Translation: X:196.51, Y:-15.07, Z:-4.08 [[ 9.99996422e-01 -1.86939736e-03 -1.91335662e-03 1.96514766e+02] [ 1.86995879e-03 9.99998209e-01 2.91680199e-04 -1.50723851e+01] [ 1.91280793e-03 -2.95257053e-04 9.99998127e-01 -4.07625171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14241403699998 meters 0.10212191694712436 Centerline is valid? [False, False] Translation: X:196.51, Y:-15.07, Z:-4.08 [[ 9.99996299e-01 -2.04406176e-03 -1.79549512e-03 1.96514593e+02] [ 2.04422550e-03 9.99997907e-01 8.93685980e-05 -1.50715309e+01] [ 1.79530869e-03 -9.30386642e-05 9.99998384e-01 -4.07632516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20241403699998 meters 0.10170509133613823 Centerline is valid? [False, False] Translation: X:196.51, Y:-15.07, Z:-4.08 [[ 9.99996117e-01 -2.08021637e-03 -1.85441314e-03 1.96514884e+02] [ 2.08015573e-03 9.99997836e-01 -3.46292069e-05 -1.50706791e+01] [ 1.85448116e-03 3.07716043e-05 9.99998280e-01 -4.07653512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26241403699999 meters 0.10195316392391816 Centerline is valid? [False, False] Translation: X:196.52, Y:-15.07, Z:-4.08 [[ 9.99996209e-01 -1.96331082e-03 -1.93076946e-03 1.96515286e+02] [ 1.96347452e-03 9.99998069e-01 8.28958376e-05 -1.50704903e+01] [ 1.93060298e-03 -8.66865399e-05 9.99998133e-01 -4.07690055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322414037 meters 0.09889151893753281 Centerline is valid? [False, True] Translation: X:196.52, Y:-15.07, Z:-4.08 [[ 9.99996696e-01 -1.70543313e-03 -1.92337037e-03 1.96516017e+02] [ 1.70632639e-03 9.99998437e-01 4.62876040e-04 -1.50705086e+01] [ 1.92257796e-03 -4.66156408e-04 9.99998043e-01 -4.07802565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382414037 meters 0.09957810529842095 Centerline is valid? [True, True] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993915e-01 -2.52075775e-03 -2.41162431e-03 1.96575993e+02] [ 2.52145518e-03 9.99996780e-01 2.86199981e-04 -1.50789310e+01] [ 2.41089510e-03 -2.92279042e-04 9.99997051e-01 -4.08075541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442414037 meters 0.10298243127911703 Centerline is valid? [True, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99994483e-01 -2.31241122e-03 -2.38461822e-03 1.96575882e+02] [ 2.31398889e-03 9.99997106e-01 6.59054515e-04 -1.50800165e+01] [ 2.38308731e-03 -6.64568860e-04 9.99996940e-01 -4.08061235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502414037 meters 0.09751725297086042 Centerline is valid? [False, True] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993616e-01 -2.58148519e-03 -2.47076806e-03 1.96575370e+02] [ 2.58215434e-03 9.99996630e-01 2.67676178e-04 -1.50796879e+01] [ 2.47006873e-03 -2.74054373e-04 9.99996912e-01 -4.07958317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562414037 meters 0.10215340220244126 Centerline is valid? [True, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993910e-01 -2.20004312e-03 -2.70925708e-03 1.96576290e+02] [ 2.20187209e-03 9.99997350e-01 6.72283492e-04 -1.50800360e+01] [ 2.70777085e-03 -6.78244836e-04 9.99996104e-01 -4.08020663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622414037 meters 0.10298066255628935 Centerline is valid? [False, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99994245e-01 -1.63513105e-03 -2.97267050e-03 1.96577540e+02] [ 1.63902065e-03 9.99997803e-01 1.30648973e-03 -1.50807230e+01] [ 2.97052769e-03 -1.31135448e-03 9.99994728e-01 -4.08126795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68241403699997 meters 0.10112404800006645 Centerline is valid? [False, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99994461e-01 -1.61565033e-03 -2.90977183e-03 1.96577347e+02] [ 1.61972301e-03 9.99997711e-01 1.39784215e-03 -1.50813999e+01] [ 2.90750675e-03 -1.40254743e-03 9.99994790e-01 -4.08116637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74241403699997 meters 0.10236115701674423 Centerline is valid? [False, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993880e-01 -1.65259791e-03 -3.08367687e-03 1.96577449e+02] [ 1.65645694e-03 9.99997848e-01 1.24930345e-03 -1.50811584e+01] [ 3.08160564e-03 -1.25440378e-03 9.99994465e-01 -4.08080147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80241403699998 meters 0.10447598515740641 Centerline is valid? [False, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993493e-01 -1.44016930e-03 -3.30741055e-03 1.96577988e+02] [ 1.44492849e-03 9.99997924e-01 1.43700837e-03 -1.50812061e+01] [ 3.30533415e-03 -1.44177799e-03 9.99993498e-01 -4.08091894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86241403699998 meters 0.10599293204733391 Centerline is valid? [False, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993794e-01 -1.12979328e-03 -3.33704622e-03 1.96578147e+02] [ 1.13632997e-03 9.99997438e-01 1.95757781e-03 -1.50827967e+01] [ 3.33482602e-03 -1.96135764e-03 9.99992516e-01 -4.08107753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92241403699998 meters 0.09994356015833758 Centerline is valid? [False, True] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99994117e-01 -9.34042142e-04 -3.30049738e-03 1.96578137e+02] [ 9.41759173e-04 9.99996825e-01 2.33736177e-03 -1.50841051e+01] [ 3.29830370e-03 -2.34045630e-03 9.99991822e-01 -4.08119759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98241403699998 meters 0.10345308744405607 Centerline is valid? [True, False] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993458e-01 -5.62478578e-04 -3.57321012e-03 1.96579087e+02] [ 5.72078055e-04 9.99996229e-01 2.68605963e-03 -1.50843729e+01] [ 3.57168579e-03 -2.68808621e-03 9.99990009e-01 -4.08174475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042414037 meters 0.09997441015308817 Centerline is valid? [False, True] Translation: X:196.58, Y:-15.08, Z:-4.08 [[ 9.99993066e-01 -8.10761397e-04 -3.63473281e-03 1.96578923e+02] [ 8.18897803e-04 9.99997161e-01 2.23758652e-03 -1.50835565e+01] [ 3.63290834e-03 -2.24054748e-03 9.99990891e-01 -4.08130101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102414037 meters 0.0996312096754051 Centerline is valid? [True, True] Translation: X:196.64, Y:-15.09, Z:-4.08 [[ 9.99997412e-01 1.74864540e-04 -2.26839989e-03 1.96638545e+02] [-1.74276220e-04 9.99999951e-01 2.59549423e-04 -1.50887954e+01] [ 2.26844516e-03 -2.59153423e-04 9.99997393e-01 -4.08171256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162414037 meters 0.099655154086148 Centerline is valid? [True, True] Translation: X:196.70, Y:-15.10, Z:-4.08 [[ 9.99997860e-01 -4.33809174e-04 -2.02267592e-03 1.96697896e+02] [ 4.34277130e-04 9.99999879e-01 2.30921406e-04 -1.50950148e+01] [ 2.02257550e-03 -2.31799314e-04 9.99997928e-01 -4.08299596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222414037 meters 0.09698015353561067 Centerline is valid? [True, True] Translation: X:196.76, Y:-15.10, Z:-4.08 [[ 9.99994977e-01 -1.39273424e-03 -2.84714048e-03 1.96757500e+02] [ 1.39366585e-03 9.99998976e-01 3.25251909e-04 -1.50974491e+01] [ 2.84668457e-03 -3.29218238e-04 9.99995894e-01 -4.08397172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282414037 meters 0.100762741340283 Centerline is valid? [True, False] Translation: X:196.76, Y:-15.10, Z:-4.08 [[ 9.99995291e-01 -1.22480641e-03 -2.81397998e-03 1.96757761e+02] [ 1.22651431e-03 9.99999065e-01 6.05290225e-04 -1.50978742e+01] [ 2.81323599e-03 -6.08738761e-04 9.99995858e-01 -4.08444198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342414037 meters 0.09926017766224379 Centerline is valid? [False, True] Translation: X:196.76, Y:-15.10, Z:-4.08 [[ 9.99994314e-01 -1.10680968e-03 -3.18547999e-03 1.96758745e+02] [ 1.10836334e-03 9.99999268e-01 4.86008419e-04 -1.50965839e+01] [ 3.18493974e-03 -4.89536325e-04 9.99994808e-01 -4.08479264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402414037 meters 0.09759626459532911 Centerline is valid? [True, True] Translation: X:196.82, Y:-15.10, Z:-4.09 [[ 9.99993349e-01 1.10043076e-03 -3.47708287e-03 1.96818761e+02] [-1.09905424e-03 9.99999317e-01 3.97769635e-04 -1.50985842e+01] [ 3.47751821e-03 -3.93945487e-04 9.99993876e-01 -4.08682961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46241403699997 meters 0.09928834938864561 Centerline is valid? [True, True] Translation: X:196.88, Y:-15.11, Z:-4.09 [[ 9.99994100e-01 1.39925323e-03 -3.13707438e-03 1.96876914e+02] [-1.39813856e-03 9.99998959e-01 3.57486351e-04 -1.51090428e+01] [ 3.13757133e-03 -3.53098178e-04 9.99995015e-01 -4.09039035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52241403699998 meters 0.09403816928946983 Centerline is valid? [True, True] Translation: X:196.94, Y:-15.10, Z:-4.09 [[ 9.99994429e-01 2.30222371e-03 -2.41693743e-03 1.96937700e+02] [-2.30156389e-03 9.99997313e-01 2.75744971e-04 -1.51046079e+01] [ 2.41756577e-03 -2.70180699e-04 9.99997041e-01 -4.08946916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58241403699998 meters 0.09338871672091399 Centerline is valid? [True, True] Translation: X:197.00, Y:-15.11, Z:-4.09 [[ 9.99993915e-01 2.67533254e-03 -2.23906060e-03 1.96996403e+02] [-2.67476962e-03 9.99996390e-01 2.54365425e-04 -1.51090171e+01] [ 2.23973303e-03 -2.48374906e-04 9.99997461e-01 -4.09003140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64241403699998 meters 0.09909787955826696 Centerline is valid? [True, True] Translation: X:197.05, Y:-15.12, Z:-4.09 [[ 9.99991471e-01 3.76604062e-03 -1.69539291e-03 1.97054251e+02] [-3.76571876e-03 9.99992891e-01 1.92997581e-04 -1.51240586e+01] [ 1.69610769e-03 -1.86611562e-04 9.99998544e-01 -4.09350225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70241403699998 meters 0.09552149441512074 Centerline is valid? [True, True] Translation: X:197.11, Y:-15.12, Z:-4.09 [[ 9.99986126e-01 4.61455177e-03 -2.54040887e-03 1.97113480e+02] [-4.61383330e-03 9.99989315e-01 2.88603938e-04 -1.51233789e+01] [ 2.54171350e-03 -2.76878911e-04 9.99996732e-01 -4.09449417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76241403699999 meters 0.09575793246631585 Centerline is valid? [True, True] Translation: X:197.17, Y:-15.13, Z:-4.10 [[ 9.99985776e-01 4.25630942e-03 -3.21438770e-03 1.97172156e+02] [-4.25515661e-03 9.99990880e-01 3.65394568e-04 -1.51285494e+01] [ 3.21591362e-03 -3.51711648e-04 9.99994767e-01 -4.09677991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822414037 meters 0.09911084958184851 Centerline is valid? [True, True] Translation: X:197.23, Y:-15.14, Z:-4.10 [[ 9.99991369e-01 3.44587534e-03 -2.32130852e-03 1.97228469e+02] [-3.44527546e-03 9.99994031e-01 2.62372535e-04 -1.51399979e+01] [ 2.32219876e-03 -2.54372723e-04 9.99997271e-01 -4.09946087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882414037 meters 0.09840255925435176 Centerline is valid? [True, True] Translation: X:197.29, Y:-15.14, Z:-4.10 [[ 9.99992643e-01 3.50600667e-03 -1.55625484e-03 1.97287894e+02] [-3.50573728e-03 9.99993839e-01 1.75798208e-04 -1.51418347e+01] [ 1.55686160e-03 -1.70341094e-04 9.99998774e-01 -4.09824282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942414037 meters 0.09897647028269575 Centerline is valid? [True, True] Translation: X:197.35, Y:-15.15, Z:-4.10 [[ 9.99988130e-01 4.55083177e-03 -1.74056154e-03 1.97347062e+02] [-4.55049467e-03 9.99989627e-01 1.97585043e-04 -1.51478119e+01] [ 1.74144266e-03 -1.89662282e-04 9.99998466e-01 -4.10043617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002414037 meters 0.09879156863468458 Centerline is valid? [True, True] Translation: X:197.41, Y:-15.15, Z:-4.10 [[ 9.99989512e-01 4.52513092e-03 -7.06179764e-04 1.97405569e+02] [-4.52507638e-03 9.99989759e-01 7.88070274e-05 -1.51522419e+01] [ 7.06529144e-04 -7.56106835e-05 9.99999748e-01 -4.10211557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062414037 meters 0.09818520611997553 Centerline is valid? [True, True] Translation: X:197.46, Y:-15.16, Z:-4.10 [[ 9.99991831e-01 4.02353497e-03 -3.86982104e-04 1.97464204e+02] [-4.02351885e-03 9.99991905e-01 4.24152378e-05 -1.51565297e+01] [ 3.87149631e-04 -4.08578615e-05 9.99999924e-01 -4.10337602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122414037 meters 0.09597453906950215 Centerline is valid? [True, True] Translation: X:197.52, Y:-15.16, Z:-4.10 [[ 9.99994375e-01 3.16568058e-03 -1.10856157e-03 1.97524746e+02] [-3.16554356e-03 9.99994982e-01 1.25330008e-04 -1.51550055e+01] [ 1.10895276e-03 -1.21820103e-04 9.99999378e-01 -4.10288286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18241403699997 meters 0.0973767843682314 Centerline is valid? [True, True] Translation: X:197.58, Y:-15.16, Z:-4.11 [[ 9.99996519e-01 2.55735641e-03 -6.48791234e-04 1.97582722e+02] [-2.55731015e-03 9.99996727e-01 7.21226146e-05 -1.51626280e+01] [ 6.48973554e-04 -7.04632032e-05 9.99999787e-01 -4.10518404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24241403699997 meters 0.09950939110976846 Centerline is valid? [True, True] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99999353e-01 9.90560072e-04 -5.59641599e-04 1.97642174e+02] [-9.90524840e-04 9.99999507e-01 6.32285129e-05 -1.51713653e+01] [ 5.59703955e-04 -6.26741331e-05 9.99999841e-01 -4.10806723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30241403699998 meters 0.10387164552030931 Centerline is valid? [True, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99999744e-01 6.21674967e-04 -3.55210672e-04 1.97642302e+02] [-6.21831555e-04 9.99999709e-01 -4.40890153e-04 -1.51690826e+01] [ 3.54936478e-04 4.41110921e-04 9.99999840e-01 -4.10886003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36241403699998 meters 0.10538786658013535 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99999986e-01 4.72821532e-05 -1.62164124e-04 1.97641652e+02] [-4.74738200e-05 9.99999300e-01 -1.18213111e-03 -1.51669878e+01] [ 1.62108117e-04 1.18213879e-03 9.99999288e-01 -4.10850387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42241403699998 meters 0.10081397469365831 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99999972e-01 -2.33726456e-04 -1.94935502e-05 1.97641391e+02] [ 2.33696141e-04 9.99998786e-01 -1.54089069e-03 -1.51657861e+01] [ 1.98536734e-05 1.54088609e-03 9.99998813e-01 -4.10852182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48241403699998 meters 0.10514790022316253 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999914e-01 -4.14013966e-04 -1.65741652e-05 1.97641943e+02] [ 4.13982126e-04 9.99998153e-01 -1.87701481e-03 -1.51638704e+01] [ 1.73512449e-05 1.87700779e-03 9.99998238e-01 -4.10935043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542414037 meters 0.10477753588334693 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999917e-01 -3.95370891e-04 -1.03274636e-04 1.97642911e+02] [ 3.95162959e-04 9.99997910e-01 -2.00571044e-03 -1.51620998e+01] [ 1.04067419e-04 2.00566946e-03 9.99997983e-01 -4.11053464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602414037 meters 0.10436071799645322 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999828e-01 -4.79076316e-04 -3.39165270e-04 1.97643618e+02] [ 4.78265712e-04 9.99997039e-01 -2.38605759e-03 -1.51601255e+01] [ 3.40307369e-04 2.38589497e-03 9.99997096e-01 -4.11086010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662414037 meters 0.10532778233899084 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999811e-01 -5.20865680e-04 -3.26239474e-04 1.97643725e+02] [ 5.20071692e-04 9.99996914e-01 -2.42913434e-03 -1.51595213e+01] [ 3.27503720e-04 2.42896422e-03 9.99996996e-01 -4.11108141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722414037 meters 0.10687150012165966 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999857e-01 -5.34334938e-04 -2.43879669e-05 1.97643179e+02] [ 5.34281185e-04 9.99997539e-01 -2.15329429e-03 -1.51604096e+01] [ 2.55384872e-05 2.15328095e-03 9.99997681e-01 -4.11117930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782414037 meters 0.10821702616294367 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999967e-01 -2.04634391e-04 1.54662188e-04 1.97643351e+02] [ 2.04856756e-04 9.99998944e-01 -1.43910188e-03 -1.51618808e+01] [-1.54367535e-04 1.43913352e-03 9.99998953e-01 -4.11203472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842414037 meters 0.10881306497926833 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999681e-01 -4.62737134e-04 6.51675379e-04 1.97642204e+02] [ 4.63600553e-04 9.99999014e-01 -1.32539376e-03 -1.51628660e+01] [-6.51061428e-04 1.32569545e-03 9.99998909e-01 -4.11185013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902414037 meters 0.11083790810328786 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.16, Z:-4.11 [[ 9.99999577e-01 -2.98104569e-04 8.70374939e-04 1.97641704e+02] [ 2.98766288e-04 9.99999666e-01 -7.60237101e-04 -1.51647762e+01] [-8.70148018e-04 7.60496818e-04 9.99999332e-01 -4.11176453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96241403699997 meters 0.10902625565712959 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99999563e-01 -1.26919306e-04 9.26214190e-04 1.97641504e+02] [ 1.27282889e-04 9.99999915e-01 -3.92498583e-04 -1.51663310e+01] [-9.26164295e-04 3.92616303e-04 9.99999494e-01 -4.11161070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02241403699998 meters 0.11047570895044087 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99994447e-01 -3.31864738e-03 3.03910249e-04 1.97643244e+02] [ 3.31965164e-03 9.99988825e-01 -3.36584074e-03 -1.51691090e+01] [-2.92736814e-04 3.36683093e-03 9.99994289e-01 -4.11223685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08241403699998 meters 0.10951576084257776 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99995621e-01 -2.93873911e-03 3.48182261e-04 1.97642736e+02] [ 2.93963869e-03 9.99992268e-01 -2.61194019e-03 -1.51720594e+01] [-3.40503758e-04 2.61295228e-03 9.99996528e-01 -4.11158249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14241403699998 meters 0.1131514312247244 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.17, Z:-4.11 [[ 9.99997384e-01 -2.28328692e-03 1.36705695e-04 1.97643229e+02] [ 2.28351382e-03 9.99995976e-01 -1.68327534e-03 -1.51745415e+01] [-1.32861744e-04 1.68358311e-03 9.99998574e-01 -4.11164461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20241403699998 meters 0.10508943668527987 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.18, Z:-4.11 [[ 9.99999029e-01 -1.38154876e-03 1.83464920e-04 1.97643257e+02] [ 1.38158365e-03 9.99999028e-01 -1.90188443e-04 -1.51796547e+01] [-1.83201987e-04 1.90441730e-04 9.99999965e-01 -4.11173454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26241403699999 meters 0.10570787607792699 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.18, Z:-4.11 [[ 9.99999898e-01 -4.50432419e-04 1.78858502e-05 1.97643738e+02] [ 4.50409268e-04 9.99999087e-01 1.27393400e-03 -1.51840354e+01] [-1.84596550e-05 -1.27392581e-03 9.99999188e-01 -4.11195377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322414037 meters 0.10238013669476954 Centerline is valid? [False, False] Translation: X:197.64, Y:-15.19, Z:-4.11 [[ 9.99999745e-01 4.53099603e-04 -5.51608483e-04 1.97644741e+02] [-4.51804703e-04 9.99997148e-01 2.34536564e-03 -1.51871213e+01] [ 5.52669594e-04 -2.34511582e-03 9.99997097e-01 -4.11170234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382414037 meters 0.1009901725053249 Centerline is valid? [False, False] Translation: X:197.65, Y:-15.19, Z:-4.11 [[ 9.99996131e-01 -2.11159474e-03 -1.81101925e-03 1.97647945e+02] [ 2.11083019e-03 9.99997682e-01 -4.23971438e-04 -1.51884519e+01] [ 1.81191031e-03 4.20147044e-04 9.99998270e-01 -4.11283418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442414037 meters 0.0961511914230939 Centerline is valid? [False, True] Translation: X:197.65, Y:-15.19, Z:-4.11 [[ 9.99996680e-01 -1.50861605e-03 -2.08925391e-03 1.97648047e+02] [ 1.50938582e-03 9.99998794e-01 3.66914230e-04 -1.51915334e+01] [ 2.08869786e-03 -3.70066502e-04 9.99997750e-01 -4.11213744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502414037 meters 0.10029202678434225 Centerline is valid? [True, False] Translation: X:197.65, Y:-15.19, Z:-4.11 [[ 9.99996976e-01 -1.01706774e-03 -2.23914721e-03 1.97648631e+02] [ 1.01950108e-03 9.99998891e-01 1.08585362e-03 -1.51930843e+01] [ 2.23804034e-03 -1.08813315e-03 9.99996904e-01 -4.11257342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562414037 meters 0.09830465807207937 Centerline is valid? [False, True] Translation: X:197.65, Y:-15.20, Z:-4.11 [[ 9.99996831e-01 -1.68499284e-04 -2.51177005e-03 1.97649336e+02] [ 1.74247229e-04 9.99997367e-01 2.28836079e-03 -1.51965995e+01] [ 2.51137784e-03 -2.28879121e-03 9.99994227e-01 -4.11279102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622414037 meters 0.09108288446666636 Centerline is valid? [True, True] Translation: X:197.71, Y:-15.19, Z:-4.11 [[ 9.99985007e-01 3.86484495e-03 -3.87915905e-03 1.97709700e+02] [-3.86322313e-03 9.99992447e-01 4.25490437e-04 -1.51924986e+01] [ 3.88077421e-03 -4.10498001e-04 9.99992386e-01 -4.11236946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68241403699997 meters 0.09329883885008702 Centerline is valid? [True, True] Translation: X:197.77, Y:-15.21, Z:-4.12 [[ 9.99972596e-01 6.55787872e-03 -3.43521404e-03 1.97767858e+02] [-6.55662235e-03 9.99978434e-01 3.76867567e-04 -1.52050485e+01] [ 3.43761141e-03 -3.54333838e-04 9.99994029e-01 -4.11550042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74241403699997 meters 0.09236248794332387 Centerline is valid? [True, True] Translation: X:197.83, Y:-15.21, Z:-4.11 [[ 9.99975546e-01 6.57336457e-03 -2.38699637e-03 1.97826233e+02] [-6.57276162e-03 9.99978365e-01 2.60353946e-04 -1.52131255e+01] [ 2.38865613e-03 -2.44658421e-04 9.99997117e-01 -4.11426548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80241403699998 meters 0.09115170212449421 Centerline is valid? [True, True] Translation: X:197.89, Y:-15.22, Z:-4.12 [[ 9.99983497e-01 4.16265369e-03 -3.95947578e-03 1.97886459e+02] [-4.16096494e-03 9.99991249e-01 4.34649981e-04 -1.52212870e+01] [ 3.96125042e-03 -4.18167569e-04 9.99992067e-01 -4.11624342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86241403699998 meters 0.09539044146275713 Centerline is valid? [True, True] Translation: X:197.94, Y:-15.24, Z:-4.12 [[ 9.99982679e-01 2.34965513e-03 -5.39634854e-03 1.97944039e+02] [-2.34649758e-03 9.99997072e-01 5.91383552e-04 -1.52381116e+01] [ 5.39772229e-03 -5.78710790e-04 9.99985265e-01 -4.12141817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92241403699998 meters 0.09657544621088347 Centerline is valid? [True, True] Translation: X:198.00, Y:-15.25, Z:-4.12 [[ 9.99983253e-01 5.40501012e-04 -5.76206425e-03 1.98003643e+02] [-5.36869052e-04 9.99999656e-01 6.31850919e-04 -1.52481486e+01] [ 5.76240378e-03 -6.28746864e-04 9.99983200e-01 -4.12372701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98241403699998 meters 0.09578591957030178 Centerline is valid? [True, True] Translation: X:198.06, Y:-15.25, Z:-4.12 [[ 9.99993203e-01 8.11056689e-04 -3.59662248e-03 1.98062639e+02] [-8.09647647e-04 9.99999595e-01 3.93206853e-04 -1.52528748e+01] [ 3.59693993e-03 -3.90292183e-04 9.99993455e-01 -4.12191997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042414037 meters 0.09317738506207805 Centerline is valid? [True, True] Translation: X:198.12, Y:-15.25, Z:-4.12 [[ 9.99992079e-01 1.21466371e-03 -3.79043671e-03 1.98121432e+02] [-1.21312294e-03 9.99999181e-01 4.08761708e-04 -1.52534197e+01] [ 3.79093011e-03 -4.04160205e-04 9.99992733e-01 -4.12196173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102414037 meters 0.09582912758586178 Centerline is valid? [True, True] Translation: X:198.18, Y:-15.26, Z:-4.12 [[ 9.99993060e-01 1.93465553e-03 -3.18395268e-03 1.98178819e+02] [-1.93356197e-03 9.99998071e-01 3.46502932e-04 -1.52630978e+01] [ 3.18461690e-03 -3.40344157e-04 9.99994871e-01 -4.12440522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162414037 meters 0.09497420256917162 Centerline is valid? [True, True] Translation: X:198.24, Y:-15.27, Z:-4.13 [[ 9.99988394e-01 3.17428737e-03 -3.62432799e-03 1.98238216e+02] [-3.17287495e-03 9.99994888e-01 3.95389650e-04 -1.52660530e+01] [ 3.62556454e-03 -3.83885522e-04 9.99993354e-01 -4.12717792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222414037 meters 0.09423103726387236 Centerline is valid? [True, True] Translation: X:198.30, Y:-15.27, Z:-4.13 [[ 9.99975359e-01 4.36088507e-03 -5.50130347e-03 1.98296557e+02] [-4.35765295e-03 9.99990326e-01 5.99368946e-04 -1.52700807e+01] [ 5.50386403e-03 -5.75381406e-04 9.99984688e-01 -4.12989850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282414037 meters 0.09463849572783786 Centerline is valid? [True, True] Translation: X:198.36, Y:-15.28, Z:-4.13 [[ 9.99977803e-01 4.66873568e-03 -4.75362149e-03 1.98355605e+02] [-4.66632609e-03 9.99988979e-01 5.17859917e-04 -1.52759215e+01] [ 4.75598685e-03 -4.95666474e-04 9.99988567e-01 -4.13150025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342414037 meters 0.0954513428914649 Centerline is valid? [True, True] Translation: X:198.41, Y:-15.28, Z:-4.13 [[ 9.99981795e-01 4.49024470e-03 -4.03076184e-03 1.98413772e+02] [-4.48851433e-03 9.99989831e-01 4.38236312e-04 -1.52836174e+01] [ 4.03268864e-03 -4.20136201e-04 9.99991780e-01 -4.13150230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402414037 meters 0.09649326608092748 Centerline is valid? [True, True] Translation: X:198.47, Y:-15.29, Z:-4.13 [[ 9.99991527e-01 2.92498577e-03 -2.89649580e-03 1.98472186e+02] [-2.92408699e-03 9.99995675e-01 3.14486246e-04 -1.52919509e+01] [ 2.89740314e-03 -3.06013976e-04 9.99995756e-01 -4.13345105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46241403699997 meters 0.09589181743052495 Centerline is valid? [True, True] Translation: X:198.53, Y:-15.30, Z:-4.13 [[ 9.99995670e-01 3.62437805e-04 -2.92032984e-03 1.98532144e+02] [-3.61509450e-04 9.99999884e-01 3.18415571e-04 -1.52959304e+01] [ 2.92044490e-03 -3.17358465e-04 9.99995685e-01 -4.13384620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52241403699998 meters 0.09803126007783725 Centerline is valid? [True, True] Translation: X:198.59, Y:-15.30, Z:-4.14 [[ 9.99995989e-01 -7.60145840e-04 -2.72831744e-03 1.98591141e+02] [ 7.60958009e-04 9.99999666e-01 2.96655580e-04 -1.53036452e+01] [ 2.72809103e-03 -2.98730525e-04 9.99996234e-01 -4.13684267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58241403699998 meters 0.09576240880435159 Centerline is valid? [True, True] Translation: X:198.65, Y:-15.30, Z:-4.14 [[ 9.99988025e-01 -5.10917544e-04 -4.86715678e-03 1.98650965e+02] [ 5.13501594e-04 9.99999728e-01 5.29680847e-04 -1.53029852e+01] [ 4.86688483e-03 -5.32173796e-04 9.99988015e-01 -4.13847423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64241403699998 meters 0.09692703273688584 Centerline is valid? [True, True] Translation: X:198.71, Y:-15.31, Z:-4.14 [[ 9.99988432e-01 3.07507496e-04 -4.80016262e-03 1.98710072e+02] [-3.05030550e-04 9.99999820e-01 5.16736448e-04 -1.53084359e+01] [ 4.80032065e-03 -5.15266274e-04 9.99988346e-01 -4.14044838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70241403699998 meters 0.0967514337486181 Centerline is valid? [True, True] Translation: X:198.77, Y:-15.31, Z:-4.14 [[ 9.99991106e-01 1.77149097e-03 -3.82737829e-03 1.98769860e+02] [-1.76991215e-03 9.99998347e-01 4.15853640e-04 -1.53121124e+01] [ 3.82810865e-03 -4.09075818e-04 9.99992589e-01 -4.14208847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76241403699999 meters 0.09413964275955312 Centerline is valid? [True, True] Translation: X:198.83, Y:-15.31, Z:-4.14 [[ 9.99991491e-01 2.97212453e-03 -2.86071112e-03 1.98830008e+02] [-2.97124784e-03 9.99995538e-01 3.10659689e-04 -1.53129958e+01] [ 2.86162167e-03 -3.02157164e-04 9.99995860e-01 -4.14285381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822414037 meters 0.09310735669902384 Centerline is valid? [True, True] Translation: X:198.89, Y:-15.31, Z:-4.14 [[ 9.99988953e-01 4.49466223e-03 -1.37511747e-03 1.98890530e+02] [-4.49446142e-03 9.99989889e-01 1.49084846e-04 -1.53139742e+01] [ 1.37577365e-03 -1.42902787e-04 9.99999043e-01 -4.14355144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882414037 meters 0.09634067553731124 Centerline is valid? [True, True] Translation: X:198.95, Y:-15.32, Z:-4.15 [[ 9.99985359e-01 5.39631178e-03 -4.02547471e-04 1.98948993e+02] [-5.39629493e-03 9.99985439e-01 4.29168384e-05 -1.53244141e+01] [ 4.02773202e-04 -4.07439452e-05 9.99999918e-01 -4.14709252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942414037 meters 0.09424853872015722 Centerline is valid? [True, True] Translation: X:199.01, Y:-15.33, Z:-4.15 [[ 9.99988289e-01 4.53912299e-03 -1.67903181e-03 1.99008371e+02] [-4.53882517e-03 9.99989683e-01 1.81142903e-04 -1.53255695e+01] [ 1.67983672e-03 -1.73519950e-04 9.99998574e-01 -4.14888859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002414037 meters 0.09711761347446064 Centerline is valid? [True, True] Translation: X:199.07, Y:-15.33, Z:-4.15 [[ 9.99994685e-01 2.71465903e-03 -1.80597026e-03 1.99067080e+02] [-2.71430939e-03 9.99996297e-01 1.96026658e-04 -1.53343845e+01] [ 1.80649572e-03 -1.91123654e-04 9.99998350e-01 -4.15126644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062414037 meters 0.095887590001406 Centerline is valid? [True, True] Translation: X:199.13, Y:-15.34, Z:-4.15 [[ 9.99998204e-01 8.51732753e-04 -1.69292148e-03 1.99127416e+02] [-8.51423387e-04 9.99999621e-01 1.83452875e-04 -1.53350123e+01] [ 1.69307709e-03 -1.82011152e-04 9.99998550e-01 -4.15135191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122414037 meters 0.09800935884127551 Centerline is valid? [True, True] Translation: X:199.19, Y:-15.34, Z:-4.15 [[ 9.99998447e-01 1.32472032e-03 -1.16203008e-03 1.99186332e+02] [-1.32457556e-03 9.99999115e-01 1.25340794e-04 -1.53404734e+01] [ 1.16219509e-03 -1.23801403e-04 9.99999317e-01 -4.15337441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18241403699997 meters 0.09747122487302476 Centerline is valid? [True, True] Translation: X:199.25, Y:-15.34, Z:-4.15 [[ 9.99993337e-01 3.65058182e-03 7.86115019e-07 1.99246709e+02] [-3.65058182e-03 9.99993337e-01 -1.62457578e-07 -1.53413250e+01] [-7.86702848e-07 1.59586719e-07 1.00000000e+00 -4.15467463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24241403699997 meters 0.09428209646877593 Centerline is valid? [True, True] Translation: X:199.31, Y:-15.34, Z:-4.16 [[ 9.99986036e-01 4.93427320e-03 1.89249078e-03 1.99307543e+02] [-4.93389231e-03 9.99987807e-01 -2.05875192e-04 -1.53403952e+01] [-1.89348355e-03 1.96534971e-04 9.99998188e-01 -4.15509072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30241403699998 meters 0.09867048125258727 Centerline is valid? [True, True] Translation: X:199.37, Y:-15.35, Z:-4.16 [[ 9.99991528e-01 3.69375810e-03 1.81635413e-03 1.99365166e+02] [-3.69340455e-03 9.99993160e-01 -1.97963492e-04 -1.53544509e+01] [-1.81707293e-03 1.91253284e-04 9.99998331e-01 -4.15731138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36241403699998 meters 0.09981509019652533 Centerline is valid? [True, True] Translation: X:199.43, Y:-15.36, Z:-4.16 [[ 9.99999456e-01 -8.06462228e-04 6.61931217e-04 1.99425045e+02] [ 8.06510016e-04 9.99999672e-01 -7.19315795e-05 -1.53641300e+01] [-6.61872990e-04 7.24653945e-05 9.99999778e-01 -4.15861770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42241403699998 meters 0.10222971716542717 Centerline is valid? [True, False] Translation: X:199.43, Y:-15.37, Z:-4.16 [[ 9.99999539e-01 -6.21686623e-04 7.32185981e-04 1.99425025e+02] [ 6.21433728e-04 9.99999747e-01 3.45574078e-04 -1.53653026e+01] [-7.32400635e-04 -3.45118913e-04 9.99999672e-01 -4.15880513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48241403699998 meters 0.10133202538062562 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.37, Z:-4.16 [[ 9.99999144e-01 -3.95384406e-04 1.24762750e-03 1.99424526e+02] [ 3.93555603e-04 9.99998848e-01 1.46572966e-03 -1.53684336e+01] [-1.24820559e-03 -1.46523739e-03 9.99998148e-01 -4.15964373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542414037 meters 0.10101993312345454 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.37, Z:-4.16 [[ 9.99998264e-01 -5.06270377e-04 1.79351068e-03 1.99423410e+02] [ 5.02793386e-04 9.99997995e-01 1.93857169e-03 -1.53706422e+01] [-1.79448853e-03 -1.93766656e-03 9.99996513e-01 -4.15954796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602414037 meters 0.10493674806297426 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.37, Z:-4.16 [[ 9.99998212e-01 -4.76225169e-04 1.83007787e-03 1.99422979e+02] [ 4.72444307e-04 9.99997755e-01 2.06583383e-03 -1.53717270e+01] [-1.83105757e-03 -2.06496552e-03 9.99996192e-01 -4.15897659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662414037 meters 0.10721614730132323 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.37, Z:-4.16 [[ 9.99998749e-01 -6.98545453e-05 1.58021569e-03 1.99423785e+02] [ 6.58427950e-05 9.99996775e-01 2.53864553e-03 -1.53724822e+01] [-1.58038793e-03 -2.53853831e-03 9.99995529e-01 -4.15942938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722414037 meters 0.10506057380102268 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.37, Z:-4.16 [[ 9.99999060e-01 6.83526196e-06 1.37099572e-03 1.99423996e+02] [-1.02251316e-05 9.99996943e-01 2.47256855e-03 -1.53725374e+01] [-1.37097463e-03 -2.47258025e-03 9.99996003e-01 -4.15909928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782414037 meters 0.10222425621640621 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.37, Z:-4.16 [[ 9.99999332e-01 2.22281539e-05 1.15524153e-03 1.99423691e+02] [-2.49543398e-05 9.99997215e-01 2.35987974e-03 -1.53732718e+01] [-1.15518586e-03 -2.35990700e-03 9.99996548e-01 -4.15794815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842414037 meters 0.1011784703759684 Centerline is valid? [False, False] Translation: X:199.42, Y:-15.38, Z:-4.16 [[ 9.99999245e-01 5.80585125e-04 1.08345714e-03 1.99423769e+02] [-5.84159333e-04 9.99994379e-01 3.30149632e-03 -1.53762956e+01] [-1.08153425e-03 -3.30212674e-03 9.99993963e-01 -4.15785861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902414037 meters 0.09906411939176049 Centerline is valid? [False, True] Translation: X:199.42, Y:-15.38, Z:-4.16 [[ 9.99999035e-01 9.39020020e-04 1.02343779e-03 1.99424024e+02] [-9.43040527e-04 9.99991813e-01 3.93505603e-03 -1.53780946e+01] [-1.01973432e-03 -3.93601738e-03 9.99991734e-01 -4.15808366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96241403699997 meters 0.09965918486166389 Centerline is valid? [True, True] Translation: X:199.48, Y:-15.39, Z:-4.16 [[ 9.99999851e-01 5.45294393e-04 -2.28505400e-05 1.99484021e+02] [-5.45294333e-04 9.99999851e-01 2.64553657e-06 -1.53871102e+01] [ 2.28519792e-05 -2.63307590e-06 1.00000000e+00 -4.15974200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02241403699998 meters 0.09829944454935471 Centerline is valid? [True, True] Translation: X:199.54, Y:-15.40, Z:-4.16 [[ 9.99999976e-01 8.86385556e-05 1.98119554e-04 1.99543652e+02] [-8.86340130e-05 9.99999996e-01 -2.29374233e-05 -1.53955859e+01] [-1.98121586e-04 2.29198627e-05 9.99999980e-01 -4.16024054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08241403699998 meters 0.09938105483240475 Centerline is valid? [True, True] Translation: X:199.60, Y:-15.41, Z:-4.16 [[ 9.99999844e-01 1.01691047e-04 5.49651679e-04 1.99602938e+02] [-1.01656084e-04 9.99999993e-01 -6.36362891e-05 -1.54059316e+01] [-5.49658146e-04 6.35804037e-05 9.99999847e-01 -4.16184979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14241403699998 meters 0.10617486990418502 Centerline is valid? [True, False] Translation: X:199.60, Y:-15.41, Z:-4.16 [[ 9.99999659e-01 6.30029494e-04 5.33472347e-04 1.99603445e+02] [-6.30430330e-04 9.99999519e-01 7.51538284e-04 -1.54077108e+01] [-5.32998599e-04 -7.51874345e-04 9.99999575e-01 -4.16255040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20241403699998 meters 0.10123657166514267 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.41, Z:-4.16 [[ 9.99999503e-01 7.77370948e-04 6.24906172e-04 1.99602890e+02] [-7.78099874e-04 9.99999016e-01 1.16706011e-03 -1.54098409e+01] [-6.23998319e-04 -1.16754577e-03 9.99999124e-01 -4.16198151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26241403699999 meters 0.10085674234344898 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.41, Z:-4.16 [[ 9.99999424e-01 9.62495819e-04 4.75322358e-04 1.99603107e+02] [-9.63170485e-04 9.99998526e-01 1.42120192e-03 -1.54103997e+01] [-4.73953757e-04 -1.42165891e-03 9.99998877e-01 -4.16187283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322414037 meters 0.1010959120807305 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.41, Z:-4.16 [[ 9.99998952e-01 1.37365809e-03 4.57662217e-04 1.99603257e+02] [-1.37461983e-03 9.99996834e-01 2.10778640e-03 -1.54123500e+01] [-4.54765391e-04 -2.10841330e-03 9.99997674e-01 -4.16203626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382414037 meters 0.10469265118337945 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.42, Z:-4.16 [[ 9.99997415e-01 -2.21390064e-03 5.17500711e-04 1.99603062e+02] [ 2.21435285e-03 9.99997166e-01 -8.74897121e-04 -1.54164979e+01] [-5.15562309e-04 8.76040789e-04 9.99999483e-01 -4.16190313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442414037 meters 0.10042043869178047 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.42, Z:-4.16 [[ 9.99997827e-01 -1.81423960e-03 1.02652583e-03 1.99602078e+02] [ 1.81357371e-03 9.99998145e-01 6.49239312e-04 -1.54213784e+01] [-1.02770180e-03 -6.47376222e-04 9.99999262e-01 -4.16183627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502414037 meters 0.09901853846696787 Centerline is valid? [False, True] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99998194e-01 -1.23992484e-03 1.44053972e-03 1.99601360e+02] [ 1.23674373e-03 9.99996800e-01 2.20707118e-03 -1.54265273e+01] [-1.44327172e-03 -2.20528561e-03 9.99996527e-01 -4.16196009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562414037 meters 0.10093820710202295 Centerline is valid? [True, False] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99998746e-01 -6.59814171e-04 1.43968092e-03 1.99601569e+02] [ 6.55154023e-04 9.99994553e-01 3.23500522e-03 -1.54291651e+01] [-1.44180758e-03 -3.23405795e-03 9.99993731e-01 -4.16226320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622414037 meters 0.0991682155887239 Centerline is valid? [False, True] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99998597e-01 -6.08427131e-04 1.56041570e-03 1.99600787e+02] [ 6.02969272e-04 9.99993708e-01 3.49578440e-03 -1.54307812e+01] [-1.56253281e-03 -3.49483861e-03 9.99992672e-01 -4.16143045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68241403699997 meters 0.10557758103055188 Centerline is valid? [True, False] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99992646e-01 -3.75360051e-03 7.86884174e-04 1.99603193e+02] [ 3.75326611e-03 9.99992866e-01 4.26019430e-04 -1.54322449e+01] [-7.88477667e-04 -4.23062911e-04 9.99999600e-01 -4.16275815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74241403699997 meters 0.10005623153718052 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99993436e-01 -3.55421620e-03 7.04266589e-04 1.99603212e+02] [ 3.55368361e-03 9.99993400e-01 7.56051931e-04 -1.54334149e+01] [-7.06949113e-04 -7.53544227e-04 9.99999466e-01 -4.16256680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80241403699998 meters 0.10353191327430969 Centerline is valid? [False, False] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99994579e-01 -3.28497141e-03 2.24064918e-04 1.99604200e+02] [ 3.28479026e-03 9.99994282e-01 8.04101587e-04 -1.54328551e+01] [-2.26705087e-04 -8.03361222e-04 9.99999652e-01 -4.16262781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86241403699998 meters 0.099938134332814 Centerline is valid? [False, True] Translation: X:199.60, Y:-15.43, Z:-4.16 [[ 9.99999485e-01 9.10494836e-04 4.48992772e-04 1.99603541e+02] [-9.12768144e-04 9.99986633e-01 5.08918477e-03 -1.54337033e+01] [-4.44353094e-04 -5.08959198e-03 9.99986949e-01 -4.16236430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92241403699998 meters 0.09611713116413972 Centerline is valid? [True, True] Translation: X:199.66, Y:-15.43, Z:-4.16 [[ 9.99993767e-01 3.43895538e-03 -8.00264895e-04 1.99664115e+02] [-3.43888180e-03 9.99994083e-01 9.33058784e-05 -1.54324256e+01] [ 8.00581034e-04 -9.05532804e-05 9.99999675e-01 -4.16214254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98241403699998 meters 0.0997518802949442 Centerline is valid? [True, True] Translation: X:199.72, Y:-15.45, Z:-4.17 [[ 9.99991113e-01 4.03000100e-03 -1.23780457e-03 1.99721639e+02] [-4.02982720e-03 9.99991870e-01 1.42870314e-04 -1.54462812e+01] [ 1.23837027e-03 -1.37880906e-04 9.99999224e-01 -4.16575199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042414037 meters 0.09926323520045705 Centerline is valid? [True, True] Translation: X:199.78, Y:-15.45, Z:-4.17 [[ 9.99987911e-01 4.30226485e-03 -2.38082372e-03 1.99779863e+02] [-4.30162077e-03 9.99990710e-01 2.75581675e-04 -1.54533642e+01] [ 2.38198723e-03 -2.65336943e-04 9.99997128e-01 -4.16774749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102414037 meters 0.0986259964402572 Centerline is valid? [True, True] Translation: X:199.84, Y:-15.46, Z:-4.17 [[ 9.99989069e-01 2.11804317e-03 -4.16848335e-03 1.99839729e+02] [-2.11603520e-03 9.99997643e-01 4.86054186e-04 -1.54606850e+01] [ 4.16950301e-03 -4.77228215e-04 9.99991194e-01 -4.16920253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162414037 meters 0.10084389189219635 Centerline is valid? [True, False] Translation: X:199.84, Y:-15.46, Z:-4.17 [[ 9.99990951e-01 1.74774398e-03 -3.87846876e-03 1.99839049e+02] [-1.74735320e-03 9.99998468e-01 1.04142366e-04 -1.54601605e+01] [ 3.87864484e-03 -9.73643693e-05 9.99992473e-01 -4.16899965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222414037 meters 0.10109027642061931 Centerline is valid? [False, False] Translation: X:199.84, Y:-15.46, Z:-4.17 [[ 9.99990890e-01 1.67103566e-03 -3.92788829e-03 1.99839330e+02] [-1.67153619e-03 9.99998595e-01 -1.24149936e-04 -1.54591528e+01] [ 3.92767531e-03 1.30714412e-04 9.99992278e-01 -4.16923686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282414037 meters 0.09541508279381927 Centerline is valid? [False, True] Translation: X:199.84, Y:-15.46, Z:-4.17 [[ 9.99991312e-01 1.17833464e-03 -3.99843723e-03 1.99839180e+02] [-1.18245364e-03 9.99998773e-01 -1.02794486e-03 -1.54569928e+01] [ 3.99722106e-03 1.03266390e-03 9.99991478e-01 -4.16878921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342414037 meters 0.10061601322144217 Centerline is valid? [True, False] Translation: X:199.84, Y:-15.45, Z:-4.17 [[ 9.99987325e-01 1.56997503e-03 -4.78377859e-03 1.99841470e+02] [-1.57649967e-03 9.99997832e-01 -1.36044349e-03 -1.54538347e+01] [ 4.78163235e-03 1.36796787e-03 9.99987632e-01 -4.16994451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402414037 meters 0.09630503912480355 Centerline is valid? [False, True] Translation: X:199.84, Y:-15.45, Z:-4.17 [[ 9.99987100e-01 1.21689548e-03 -4.93136313e-03 1.99841680e+02] [-1.22760840e-03 9.99996892e-01 -2.16996271e-03 -1.54514972e+01] [ 4.92870718e-03 2.17598850e-03 9.99985486e-01 -4.16980111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46241403699997 meters 0.09791761217729235 Centerline is valid? [True, True] Translation: X:199.90, Y:-15.46, Z:-4.17 [[ 9.99997502e-01 1.63494830e-03 -1.52386526e-03 1.99900330e+02] [-1.63468809e-03 9.99998649e-01 1.71985007e-04 -1.54607118e+01] [ 1.52414439e-03 -1.69493533e-04 9.99998824e-01 -4.17213611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52241403699998 meters 0.09626736263111889 Centerline is valid? [True, True] Translation: X:199.96, Y:-15.46, Z:-4.17 [[ 9.99995839e-01 2.69816169e-03 -1.02027243e-03 1.99959988e+02] [-2.69804599e-03 9.99996354e-01 1.14757816e-04 -1.54629522e+01] [ 1.02057835e-03 -1.12004596e-04 9.99999473e-01 -4.17285909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58241403699998 meters 0.10005075187122361 Centerline is valid? [True, False] Translation: X:199.96, Y:-15.46, Z:-4.17 [[ 9.99994917e-01 2.92265343e-03 -1.27408343e-03 1.99960775e+02] [-2.92229274e-03 9.99995690e-01 2.84869638e-04 -1.54628036e+01] [ 1.27491051e-03 -2.81144945e-04 9.99999148e-01 -4.17325900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64241403699998 meters 0.09711444410698127 Centerline is valid? [False, True] Translation: X:199.96, Y:-15.46, Z:-4.17 [[ 9.99995169e-01 2.78554838e-03 -1.37925749e-03 1.99960883e+02] [-2.78558235e-03 9.99996120e-01 -2.27064234e-05 -1.54621744e+01] [ 1.37918889e-03 2.65483490e-05 9.99999049e-01 -4.17309235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70241403699998 meters 0.09840897249424196 Centerline is valid? [True, True] Translation: X:200.02, Y:-15.47, Z:-4.18 [[ 9.99994222e-01 2.87719668e-03 -1.81062996e-03 2.00019272e+02] [-2.87683336e-03 9.99995841e-01 2.03227496e-04 -1.54695738e+01] [ 1.81120715e-03 -1.98017441e-04 9.99998340e-01 -4.17672248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76241403699999 meters 0.09885906173649461 Centerline is valid? [True, True] Translation: X:200.08, Y:-15.48, Z:-4.18 [[ 9.99998763e-01 1.52092090e-03 4.00309931e-04 2.00078714e+02] [-1.52090239e-03 9.99998842e-01 -4.65482356e-05 -1.54768708e+01] [-4.00380263e-04 4.59393457e-05 9.99999919e-01 -4.17804130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822414037 meters 0.09820779300382232 Centerline is valid? [True, True] Translation: X:200.14, Y:-15.48, Z:-4.18 [[ 9.99993855e-01 1.05266527e-03 3.34387116e-03 2.00139366e+02] [-1.05140252e-03 9.99999375e-01 -3.79365331e-04 -1.54807439e+01] [-3.34426842e-03 3.75847245e-04 9.99994337e-01 -4.17829747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882414037 meters 0.09889615982152525 Centerline is valid? [True, True] Translation: X:200.20, Y:-15.49, Z:-4.18 [[ 9.99993785e-01 1.68118115e-03 3.09888954e-03 2.00200628e+02] [-1.68010280e-03 9.99998527e-01 -3.50552425e-04 -1.54868533e+01] [-3.09947432e-03 3.45343793e-04 9.99995137e-01 -4.18043124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942414037 meters 0.09701560440742014 Centerline is valid? [True, True] Translation: X:200.26, Y:-15.49, Z:-4.18 [[ 9.99988713e-01 3.29531930e-03 3.42276849e-03 2.00261726e+02] [-3.29401058e-03 9.99994499e-01 -3.87924702e-04 -1.54893527e+01] [-3.42402800e-03 3.76645688e-04 9.99994067e-01 -4.18249208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002414037 meters 0.09254001567567462 Centerline is valid? [True, True] Translation: X:200.32, Y:-15.48, Z:-4.18 [[ 9.99975473e-01 6.08040545e-03 3.47587469e-03 2.00323196e+02] [-6.07907045e-03 9.99981444e-01 -3.94512724e-04 -1.54848730e+01] [-3.47820899e-03 3.73372961e-04 9.99993881e-01 -4.18233842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062414037 meters 0.09364758090153014 Centerline is valid? [True, True] Translation: X:200.38, Y:-15.49, Z:-4.19 [[ 9.99961687e-01 8.06542591e-03 3.40183583e-03 2.00382699e+02] [-8.06415850e-03 9.99967410e-01 -3.86118751e-04 -1.54912059e+01] [-3.40483917e-03 3.58671015e-04 9.99994139e-01 -4.18581614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122414037 meters 0.09473900722937963 Centerline is valid? [True, True] Translation: X:200.44, Y:-15.50, Z:-4.19 [[ 9.99945169e-01 1.00730966e-02 2.86203197e-03 2.00440909e+02] [-1.00722047e-02 9.99949221e-01 -3.25881802e-04 -1.54982375e+01] [-2.86516928e-03 2.97036962e-04 9.99995851e-01 -4.19025091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18241403699997 meters 0.09359638810281314 Centerline is valid? [True, True] Translation: X:200.50, Y:-15.50, Z:-4.19 [[ 9.99951178e-01 8.95977742e-03 4.16710419e-03 2.00500723e+02] [-8.95787975e-03 9.99959765e-01 -4.73835718e-04 -1.55014119e+01] [-4.17118199e-03 4.36484166e-04 9.99991205e-01 -4.19114852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24241403699997 meters 0.09441284701365076 Centerline is valid? [True, True] Translation: X:200.56, Y:-15.51, Z:-4.19 [[ 9.99970626e-01 5.81550155e-03 4.99278232e-03 2.00560823e+02] [-5.81274546e-03 9.99982945e-01 -5.66349620e-04 -1.55073487e+01] [-4.99599078e-03 5.37311211e-04 9.99987376e-01 -4.19126176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30241403699998 meters 0.09554347590894356 Centerline is valid? [True, True] Translation: X:200.62, Y:-15.52, Z:-4.19 [[ 9.99985729e-01 2.82334704e-03 4.53545541e-03 2.00620385e+02] [-2.82104046e-03 9.99995888e-01 -5.14882876e-04 -1.55159846e+01] [-4.53689045e-03 5.02080825e-04 9.99989582e-01 -4.19412764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36241403699998 meters 0.09806126751478941 Centerline is valid? [True, True] Translation: X:200.68, Y:-15.53, Z:-4.20 [[ 9.99986288e-01 -1.83168459e-03 4.90596268e-03 2.00679737e+02] [ 1.83443518e-03 9.99998163e-01 -5.56221394e-04 -1.55263379e+01] [-4.90493485e-03 5.65213438e-04 9.99987811e-01 -4.19616682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42241403699998 meters 0.1015951675118153 Centerline is valid? [True, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99984551e-01 -2.45866585e-03 4.98529757e-03 2.00679502e+02] [ 2.46599167e-03 9.99995888e-01 -1.46387030e-03 -1.55234392e+01] [-4.98167790e-03 1.47614139e-03 9.99986502e-01 -4.19606500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48241403699998 meters 0.09891169929476325 Centerline is valid? [False, True] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99984423e-01 -2.47919964e-03 5.00073538e-03 2.00679951e+02] [ 2.48701347e-03 9.99995695e-01 -1.55692253e-03 -1.55225336e+01] [-4.99685393e-03 1.56933518e-03 9.99986284e-01 -4.19678709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542414037 meters 0.10058706687143149 Centerline is valid? [True, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99983976e-01 -2.60554598e-03 5.02581844e-03 2.00680261e+02] [ 2.61467098e-03 9.99994944e-01 -1.80991036e-03 -1.55213416e+01] [-5.02107722e-03 1.82302222e-03 9.99985733e-01 -4.19731895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602414037 meters 0.10421260188822953 Centerline is valid? [False, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99984022e-01 -2.95446229e-03 4.81937885e-03 2.00680574e+02] [ 2.96695200e-03 9.99992254e-01 -2.58647220e-03 -1.55185552e+01] [-4.81169988e-03 2.60072974e-03 9.99985042e-01 -4.19715628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662414037 meters 0.09866050961046481 Centerline is valid? [False, True] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99985519e-01 9.02130406e-04 5.30547523e-03 2.00679352e+02] [-9.10066985e-04 9.99998470e-01 1.49369854e-03 -1.55189083e+01] [-5.30411960e-03 -1.49850525e-03 9.99984810e-01 -4.19672962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722414037 meters 0.10313483241276832 Centerline is valid? [True, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99987170e-01 8.15320169e-04 4.99960258e-03 2.00679473e+02] [-8.20719347e-04 9.99999082e-01 1.07796487e-03 -1.55181213e+01] [-4.99871910e-03 -1.08205431e-03 9.99986921e-01 -4.19594643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782414037 meters 0.10168674456862702 Centerline is valid? [False, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99989287e-01 9.48669353e-04 4.53048746e-03 2.00680515e+02] [-9.52691357e-04 9.99999154e-01 8.85688487e-04 -1.55170278e+01] [-4.52964340e-03 -8.89995155e-04 9.99989345e-01 -4.19609515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842414037 meters 0.10102341085384448 Centerline is valid? [False, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99992358e-01 1.50272995e-03 3.60905515e-03 2.00682759e+02] [-1.50614333e-03 9.99998421e-01 9.43251253e-04 -1.55160287e+01] [-3.60763199e-03 -9.48679799e-04 9.99993042e-01 -4.19680192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902414037 meters 0.10191079758880912 Centerline is valid? [False, False] Translation: X:200.68, Y:-15.52, Z:-4.20 [[ 9.99993803e-01 1.70291394e-03 3.08113882e-03 2.00683945e+02] [-1.70512823e-03 9.99998290e-01 7.16175497e-04 -1.55150440e+01] [-3.07991396e-03 -7.21424796e-04 9.99994997e-01 -4.19704413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96241403699997 meters 0.0980553602062083 Centerline is valid? [False, True] Translation: X:200.68, Y:-15.51, Z:-4.20 [[ 9.99994591e-01 1.74060119e-03 2.79061328e-03 2.00684466e+02] [-1.74212048e-03 9.99998336e-01 5.42091828e-04 -1.55143554e+01] [-2.78966507e-03 -5.46950481e-04 9.99995959e-01 -4.19695717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02241403699998 meters 0.09861824691462069 Centerline is valid? [True, True] Translation: X:200.74, Y:-15.52, Z:-4.20 [[ 9.99988787e-01 2.96158440e-03 3.69516511e-03 2.00744967e+02] [-2.96007194e-03 9.99995533e-01 -4.14710699e-04 -1.55225931e+01] [-3.69637680e-03 4.03768094e-04 9.99993087e-01 -4.19720739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08241403699998 meters 0.09729110598251046 Centerline is valid? [True, True] Translation: X:200.81, Y:-15.53, Z:-4.20 [[ 9.99980658e-01 3.51972275e-03 5.12797108e-03 2.00806227e+02] [-3.51681996e-03 9.99993651e-01 -5.74977497e-04 -1.55277660e+01] [-5.12996229e-03 5.56932225e-04 9.99986687e-01 -4.19712124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14241403699998 meters 0.09615220613175701 Centerline is valid? [True, True] Translation: X:200.87, Y:-15.53, Z:-4.20 [[ 9.99982684e-01 3.08762492e-03 5.00973450e-03 2.00867484e+02] [-3.08484834e-03 9.99995084e-01 -5.61869154e-04 -1.55336063e+01] [-5.01144471e-03 5.46405154e-04 9.99987293e-01 -4.19900224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20241403699998 meters 0.09895117191064313 Centerline is valid? [True, True] Translation: X:200.93, Y:-15.55, Z:-4.20 [[ 9.99985329e-01 2.65419585e-03 4.72187343e-03 2.00927935e+02] [-2.65173705e-03 9.99996345e-01 -5.26909502e-04 -1.55459470e+01] [-4.72325469e-03 5.14380606e-04 9.99988713e-01 -4.20276227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26241403699999 meters 0.10195207652900831 Centerline is valid? [True, False] Translation: X:200.93, Y:-15.55, Z:-4.20 [[ 9.99983929e-01 2.91929696e-03 4.85993836e-03 2.00927698e+02] [-2.92006877e-03 9.99995725e-01 1.51721402e-04 -1.55485356e+01] [-4.85947466e-03 -1.65910318e-04 9.99988179e-01 -4.20279978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322414037 meters 0.0985325030380531 Centerline is valid? [False, True] Translation: X:200.93, Y:-15.55, Z:-4.20 [[ 9.99983417e-01 3.05266071e-03 4.88338342e-03 2.00927668e+02] [-3.05481753e-03 9.99995240e-01 4.34267995e-04 -1.55495995e+01] [-4.88203450e-03 -4.49178639e-04 9.99987982e-01 -4.20281493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382414037 meters 0.09803893575614848 Centerline is valid? [True, True] Translation: X:200.99, Y:-15.56, Z:-4.20 [[ 9.99980988e-01 3.40827500e-03 5.13875058e-03 2.00989051e+02] [-3.40528574e-03 9.99994028e-01 -5.90347083e-04 -1.55557408e+01] [-5.14073195e-03 5.72836945e-04 9.99986622e-01 -4.20381621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442414037 meters 0.09625987440155374 Centerline is valid? [True, True] Translation: X:201.05, Y:-15.56, Z:-4.20 [[ 9.99971646e-01 2.73989478e-03 7.01424244e-03 2.01050538e+02] [-2.73430403e-03 9.99995937e-01 -8.06522268e-04 -1.55598110e+01] [-7.01642372e-03 7.87320329e-04 9.99975075e-01 -4.20426085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502414037 meters 0.10076438551346195 Centerline is valid? [True, False] Translation: X:201.05, Y:-15.56, Z:-4.20 [[ 9.99971775e-01 2.68929656e-03 7.01542675e-03 2.01050411e+02] [-2.68303228e-03 9.99995994e-01 -9.02187941e-04 -1.55597758e+01] [-7.01782489e-03 8.83339860e-04 9.99974985e-01 -4.20401710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562414037 meters 0.09988222641380347 Centerline is valid? [False, True] Translation: X:201.05, Y:-15.56, Z:-4.20 [[ 9.99973682e-01 2.78202776e-03 6.70038871e-03 2.01051175e+02] [-2.77533407e-03 9.99995641e-01 -1.00809068e-03 -1.55589546e+01] [-6.70316404e-03 9.89468328e-04 9.99977044e-01 -4.20419925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622414037 meters 0.09964230909217764 Centerline is valid? [True, True] Translation: X:201.11, Y:-15.56, Z:-4.21 [[ 9.99978214e-01 3.36223720e-03 5.68034047e-03 2.01113254e+02] [-3.35859829e-03 9.99994149e-01 -6.50031840e-04 -1.55645601e+01] [-5.68249280e-03 6.30939697e-04 9.99983655e-01 -4.20610042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68241403699997 meters 0.0978854844442234 Centerline is valid? [True, True] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99981147e-01 3.61905430e-03 4.96057860e-03 2.01174286e+02] [-3.61624820e-03 9.99993296e-01 -5.74533775e-04 -1.55687421e+01] [-4.96262461e-03 5.56584260e-04 9.99987531e-01 -4.20867729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74241403699997 meters 0.1018780272518927 Centerline is valid? [True, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99980582e-01 3.43433896e-03 5.20001890e-03 2.01173601e+02] [-3.43085709e-03 9.99993885e-01 -6.78360001e-04 -1.55691568e+01] [-5.20231682e-03 6.60506307e-04 9.99986250e-01 -4.20833921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80241403699998 meters 0.09945170565718098 Centerline is valid? [False, True] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99980271e-01 3.52933032e-03 5.19623091e-03 2.01173713e+02] [-3.52667131e-03 9.99993646e-01 -5.20791166e-04 -1.55694304e+01] [-5.19803593e-03 5.02455493e-04 9.99986364e-01 -4.20847198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86241403699998 meters 0.1002858262311008 Centerline is valid? [True, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99979698e-01 3.72266129e-03 5.17157598e-03 2.01174022e+02] [-3.72135626e-03 9.99993041e-01 -2.61947095e-04 -1.55698713e+01] [-5.17251513e-03 2.42696500e-04 9.99986593e-01 -4.20882975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92241403699998 meters 0.1041464659147087 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99980414e-01 3.52240347e-03 5.17337226e-03 2.01173644e+02] [-3.51941728e-03 9.99993635e-01 -5.86213468e-04 -1.55696390e+01] [-5.17540421e-03 5.67994731e-04 9.99986446e-01 -4.20821706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98241403699998 meters 0.101582354612204 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99980191e-01 3.60338186e-03 5.16082016e-03 2.01173929e+02] [-3.60107072e-03 9.99993412e-01 -4.57047474e-04 -1.55695243e+01] [-5.16243308e-03 4.38453942e-04 9.99986578e-01 -4.20858465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042414037 meters 0.10714575131583864 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99979652e-01 3.74967763e-03 5.16096140e-03 2.01174160e+02] [-3.74868208e-03 9.99992953e-01 -2.02561549e-04 -1.55702045e+01] [-5.16168457e-03 1.83210624e-04 9.99986662e-01 -4.20890933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102414037 meters 0.10262445176584725 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99979245e-01 3.49541923e-03 5.41219006e-03 2.01173340e+02] [-3.49341592e-03 9.99993826e-01 -3.79556298e-04 -1.55705016e+01] [-5.41348336e-03 3.60641389e-04 9.99985282e-01 -4.20845193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162414037 meters 0.10435818117521044 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99979933e-01 3.35451104e-03 5.37405331e-03 2.01173104e+02] [-3.35103818e-03 9.99994171e-01 -6.55102304e-04 -1.55702294e+01] [-5.37621953e-03 6.37080501e-04 9.99985345e-01 -4.20795425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222414037 meters 0.10223416801106074 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99980191e-01 3.49394736e-03 5.23552747e-03 2.01173498e+02] [-3.49100858e-03 9.99993744e-01 -5.70348929e-04 -1.55704190e+01] [-5.23748749e-03 5.52060360e-04 9.99986132e-01 -4.20811415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282414037 meters 0.1016060271402159 Centerline is valid? [False, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99979885e-01 3.54716643e-03 5.25796705e-03 2.01173150e+02] [-3.54481050e-03 9.99993613e-01 -4.57321552e-04 -1.55713996e+01] [-5.25955566e-03 4.38673857e-04 9.99986072e-01 -4.20759490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342414037 meters 0.09922097407427426 Centerline is valid? [False, True] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99980042e-01 3.46015591e-03 5.28614129e-03 2.01172688e+02] [-3.45766890e-03 9.99993907e-01 -4.79543793e-04 -1.55720585e+01] [-5.28776838e-03 4.61256496e-04 9.99985913e-01 -4.20697931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402414037 meters 0.10492811079593274 Centerline is valid? [True, False] Translation: X:201.17, Y:-15.57, Z:-4.21 [[ 9.99989346e-01 3.18483920e-04 4.60501835e-03 2.01174863e+02] [-3.02338817e-04 9.99993807e-01 -3.50625138e-03 -1.55738125e+01] [-4.60610651e-03 3.50482175e-03 9.99983250e-01 -4.20827340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46241403699997 meters 0.10245786735992873 Centerline is valid? [False, False] Translation: X:201.18, Y:-15.58, Z:-4.21 [[ 9.99989539e-01 8.78315727e-04 4.48900546e-03 2.01175739e+02] [-8.66268446e-04 9.99996020e-01 -2.68497072e-03 -1.55751535e+01] [-4.49134585e-03 2.68105394e-03 9.99986320e-01 -4.20926947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52241403699998 meters 0.10168482663249699 Centerline is valid? [False, False] Translation: X:201.18, Y:-15.57, Z:-4.21 [[ 9.99990748e-01 7.73047551e-04 4.23147663e-03 2.01176131e+02] [-7.59955158e-04 9.99994922e-01 -3.09478220e-03 -1.55739574e+01] [-4.23384756e-03 3.09153784e-03 9.99986258e-01 -4.20911191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58241403699998 meters 0.10135780163250742 Centerline is valid? [False, False] Translation: X:201.18, Y:-15.57, Z:-4.21 [[ 9.99991672e-01 1.19554799e-03 3.90213336e-03 2.01177157e+02] [-1.18485229e-03 9.99995538e-01 -2.74214910e-03 -1.55738595e+01] [-3.90539432e-03 2.73750281e-03 9.99988627e-01 -4.20972121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64241403699998 meters 0.10312062727416098 Centerline is valid? [False, False] Translation: X:201.18, Y:-15.57, Z:-4.21 [[ 9.99992897e-01 1.31192049e-03 3.53325578e-03 2.01177813e+02] [-1.30148470e-03 9.99994789e-01 -2.95427209e-03 -1.55728108e+01] [-3.53711314e-03 2.94965263e-03 9.99989394e-01 -4.20958216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70241403699998 meters 0.10464977416000103 Centerline is valid? [False, False] Translation: X:201.18, Y:-15.57, Z:-4.21 [[ 9.99993997e-01 1.35665133e-03 3.18837824e-03 2.01178620e+02] [-1.34629948e-03 9.99993823e-01 -3.24664997e-03 -1.55712781e+01] [-3.19276312e-03 3.24233797e-03 9.99989647e-01 -4.20977183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76241403699999 meters 0.09725815189907783 Centerline is valid? [False, True] Translation: X:201.18, Y:-15.57, Z:-4.21 [[ 9.99994744e-01 1.91320110e-03 2.61739185e-03 2.01180710e+02] [-1.90525823e-03 9.99993583e-01 -3.03378403e-03 -1.55699366e+01] [-2.62317930e-03 3.02878127e-03 9.99991973e-01 -4.21129796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822414037 meters 0.09963895250897284 Centerline is valid? [True, True] Translation: X:201.24, Y:-15.58, Z:-4.22 [[ 9.99989669e-01 3.75411905e-03 2.56308111e-03 2.01239366e+02] [-3.75340608e-03 9.99992916e-01 -2.82923289e-04 -1.55797935e+01] [-2.56412508e-03 2.73300082e-04 9.99996675e-01 -4.21576525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882414037 meters 0.09579816546445691 Centerline is valid? [True, True] Translation: X:201.30, Y:-15.58, Z:-4.22 [[ 9.99977538e-01 5.37072801e-03 4.00990566e-03 2.01300630e+02] [-5.36899790e-03 9.99985489e-01 -4.42099811e-04 -1.55775641e+01] [-4.01222188e-03 4.20560705e-04 9.99991863e-01 -4.21555093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942414037 meters 0.0950816165909321 Centerline is valid? [True, True] Translation: X:201.36, Y:-15.58, Z:-4.22 [[ 9.99965330e-01 6.69355650e-03 4.95332173e-03 2.01360883e+02] [-6.69093391e-03 9.99977466e-01 -5.45844306e-04 -1.55811252e+01] [-4.95686376e-03 5.12683034e-04 9.99987583e-01 -4.21739222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002414037 meters 0.09606713192670698 Centerline is valid? [True, True] Translation: X:201.42, Y:-15.59, Z:-4.22 [[ 9.99956712e-01 7.25153796e-03 5.83000428e-03 2.01421362e+02] [-7.24791424e-03 9.99973527e-01 -6.42452644e-04 -1.55871258e+01] [-5.83450871e-03 6.00169463e-04 9.99982799e-01 -4.21911130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062414037 meters 0.09802272838904816 Centerline is valid? [True, True] Translation: X:201.48, Y:-15.60, Z:-4.22 [[ 9.99953110e-01 7.36835215e-03 6.28379225e-03 2.01480616e+02] [-7.36414680e-03 9.99972645e-01 -6.92112138e-04 -1.55958646e+01] [-6.28872008e-03 6.45804915e-04 9.99980017e-01 -4.22075710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122414037 meters 0.09569699496264052 Centerline is valid? [True, True] Translation: X:201.54, Y:-15.60, Z:-4.22 [[ 9.99956641e-01 7.05265474e-03 6.08075510e-03 2.01541439e+02] [-7.04870832e-03 9.99974933e-01 -6.70188342e-04 -1.55982178e+01] [-6.08532928e-03 6.27297814e-04 9.99981287e-01 -4.22143357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18241403699997 meters 0.09936477386279592 Centerline is valid? [True, True] Translation: X:201.60, Y:-15.61, Z:-4.22 [[ 9.99969378e-01 5.45919663e-03 5.60717220e-03 2.01600634e+02] [-5.45581622e-03 9.99984926e-01 -6.17992564e-04 -1.56103069e+01] [-5.61046142e-03 5.87381939e-04 9.99984089e-01 -4.22459292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24241403699997 meters 0.09787682728069146 Centerline is valid? [True, True] Translation: X:201.66, Y:-15.61, Z:-4.23 [[ 9.99984324e-01 3.45576272e-03 4.40569901e-03 2.01661267e+02] [-3.45365696e-03 9.99993918e-01 -4.85481458e-04 -1.56128883e+01] [-4.40734992e-03 4.70258074e-04 9.99990177e-01 -4.22660874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30241403699998 meters 0.10424941952463512 Centerline is valid? [True, False] Translation: X:201.67, Y:-15.61, Z:-4.22 [[ 9.99985645e-01 -3.77048338e-03 -3.80708811e-03 2.01673527e+02] [ 3.77558263e-03 9.99991984e-01 1.33311246e-03 -1.56111149e+01] [ 3.80203111e-03 -1.34746730e-03 9.99991864e-01 -4.22402189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36241403699998 meters 0.10561891814087222 Centerline is valid? [False, False] Translation: X:201.67, Y:-15.61, Z:-4.22 [[ 9.99984669e-01 -4.06225825e-03 -3.76302187e-03 2.01673457e+02] [ 4.06560983e-03 9.99991345e-01 8.83440987e-04 -1.56095353e+01] [ 3.75940053e-03 -8.98726421e-04 9.99992530e-01 -4.22406615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42241403699998 meters 0.10804479207386751 Centerline is valid? [False, False] Translation: X:201.67, Y:-15.61, Z:-4.22 [[ 9.99983298e-01 -4.16185196e-03 -4.01024401e-03 2.01674026e+02] [ 4.16342627e-03 9.99991259e-01 3.84304069e-04 -1.56074694e+01] [ 4.00860954e-03 -4.00994006e-04 9.99991885e-01 -4.22416569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48241403699998 meters 0.1014550939821454 Centerline is valid? [False, False] Translation: X:201.67, Y:-15.61, Z:-4.22 [[ 9.99982804e-01 -3.98519846e-03 -4.30237361e-03 2.01674884e+02] [ 3.98663852e-03 9.99992000e-01 3.26188759e-04 -1.56065903e+01] [ 4.30103927e-03 -3.43335158e-04 9.99990692e-01 -4.22457409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542414037 meters 0.10203757503452769 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99982510e-01 -3.67801412e-03 -4.63155504e-03 2.01676177e+02] [ 3.67972078e-03 9.99993165e-01 3.60017355e-04 -1.56053858e+01] [ 4.63019924e-03 -3.77053887e-04 9.99989209e-01 -4.22552808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602414037 meters 0.10431517181181454 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99983294e-01 -3.33326197e-03 -4.72239512e-03 2.01677052e+02] [ 3.33707919e-03 9.99994111e-01 8.00673460e-04 -1.56055545e+01] [ 4.71969846e-03 -8.16419091e-04 9.99988529e-01 -4.22659621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662414037 meters 0.10721979984023684 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99984397e-01 -3.26901919e-03 -4.52983440e-03 2.01676851e+02] [ 3.27408577e-03 9.99994022e-01 1.11152767e-03 -1.56064501e+01] [ 4.52617371e-03 -1.12634139e-03 9.99989122e-01 -4.22688334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722414037 meters 0.11000004577195807 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99985516e-01 -3.43011995e-03 -4.14761836e-03 2.01676035e+02] [ 3.43556214e-03 9.99993246e-01 1.30571157e-03 -1.56070226e+01] [ 4.14311160e-03 -1.31994206e-03 9.99990546e-01 -4.22677155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782414037 meters 0.1125609278360699 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99987194e-01 -3.07068198e-03 -4.02272945e-03 2.01676278e+02] [ 3.07899488e-03 9.99993134e-01 2.06192094e-03 -1.56084825e+01] [ 4.01637032e-03 -2.07428050e-03 9.99989783e-01 -4.22751136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842414037 meters 0.11806209952846991 Centerline is valid? [False, False] Translation: X:201.67, Y:-15.61, Z:-4.23 [[ 9.99989063e-01 -3.20783965e-03 -3.40350326e-03 2.01674986e+02] [ 3.21650210e-03 9.99991594e-01 2.54274417e-03 -1.56112014e+01] [ 3.39531793e-03 -2.55366374e-03 9.99990975e-01 -4.22742192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902414037 meters 0.11981624786340983 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99990068e-01 -2.90320498e-03 -3.38151813e-03 2.01675505e+02] [ 2.91360099e-03 9.99991032e-01 3.07350514e-03 -1.56118763e+01] [ 3.37256479e-03 -3.08332701e-03 9.99989559e-01 -4.22827975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96241403699997 meters 0.12144045546929566 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99989766e-01 -2.95890243e-03 -3.42238898e-03 2.01675304e+02] [ 2.96902277e-03 9.99991224e-01 2.95580775e-03 -1.56120247e+01] [ 3.41361300e-03 -2.96593865e-03 9.99989775e-01 -4.22781956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02241403699998 meters 0.10300675714003832 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99990203e-01 -2.68764565e-03 -3.51725435e-03 2.01675548e+02] [ 2.69925241e-03 9.99990914e-01 3.29937463e-03 -1.56127761e+01] [ 3.50835484e-03 -3.30883626e-03 9.99988371e-01 -4.22786551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08241403699998 meters 0.1038714447465325 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.61, Z:-4.23 [[ 9.99990403e-01 -2.60402347e-03 -3.52329982e-03 2.01675353e+02] [ 2.61623236e-03 9.99990574e-01 3.46502599e-03 -1.56136408e+01] [ 3.51424360e-03 -3.47421050e-03 9.99987790e-01 -4.22751951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14241403699998 meters 0.09993010753330216 Centerline is valid? [False, True] Translation: X:201.68, Y:-15.62, Z:-4.23 [[ 9.99991944e-01 -1.71419485e-03 -3.62957149e-03 2.01676322e+02] [ 1.73183939e-03 9.99986672e-01 4.86378030e-03 -1.56168725e+01] [ 3.62118565e-03 -4.87002695e-03 9.99981585e-01 -4.22862903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20241403699998 meters 0.10210267798249235 Centerline is valid? [True, False] Translation: X:201.68, Y:-15.62, Z:-4.23 [[ 9.99992892e-01 -1.15414248e-03 -3.58945283e-03 2.01676854e+02] [ 1.17522721e-03 9.99982037e-01 5.87752548e-03 -1.56192179e+01] [ 3.58260485e-03 -5.88170213e-03 9.99976285e-01 -4.22959355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26241403699999 meters 0.10110266685773094 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.62, Z:-4.23 [[ 9.99993099e-01 -9.64309000e-04 -3.58789686e-03 2.01676829e+02] [ 9.86667675e-04 9.99980074e-01 6.23515127e-03 -1.56204481e+01] [ 3.58181276e-03 -6.23864830e-03 9.99974125e-01 -4.22954677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322414037 meters 0.10120903502028882 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.62, Z:-4.23 [[ 9.99993521e-01 -8.19047820e-04 -3.50538301e-03 2.01676279e+02] [ 8.42207055e-04 9.99977796e-01 6.61039433e-03 -1.56222227e+01] [ 3.49989095e-03 -6.61330375e-03 9.99972007e-01 -4.22893252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382414037 meters 0.10052764177384625 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.62, Z:-4.23 [[ 9.99993936e-01 -8.99972865e-04 -3.36414816e-03 2.01675564e+02] [ 9.22334710e-04 9.99977453e-01 6.65147379e-03 -1.56230941e+01] [ 3.35808616e-03 -6.65453633e-03 9.99972220e-01 -4.22827676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442414037 meters 0.09996548948573741 Centerline is valid? [False, True] Translation: X:201.68, Y:-15.62, Z:-4.23 [[ 9.99981278e-01 -4.77307611e-03 -3.82897149e-03 2.01676529e+02] [ 4.78365068e-03 9.99984757e-01 2.75733584e-03 -1.56236996e+01] [ 3.81575215e-03 -2.77560068e-03 9.99988868e-01 -4.22826918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502414037 meters 0.1052346405877788 Centerline is valid? [True, False] Translation: X:201.68, Y:-15.63, Z:-4.23 [[ 9.99982576e-01 -4.69714100e-03 -3.57554641e-03 2.01675979e+02] [ 4.70871142e-03 9.99983683e-01 3.23447602e-03 -1.56255328e+01] [ 3.56029528e-03 -3.25125588e-03 9.99988377e-01 -4.22822842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562414037 meters 0.10369842160713963 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.63, Z:-4.23 [[ 9.99983646e-01 -4.56653031e-03 -3.44306020e-03 2.01675749e+02] [ 4.57901534e-03 9.99982939e-01 3.62702166e-03 -1.56269279e+01] [ 3.42643855e-03 -3.64272816e-03 9.99987495e-01 -4.22831011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622414037 meters 0.10555964944163596 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.63, Z:-4.23 [[ 9.99985103e-01 -4.11776254e-03 -3.58311640e-03 2.01676321e+02] [ 4.13307861e-03 9.99982309e-01 4.27765877e-03 -1.56283802e+01] [ 3.56543863e-03 -4.29240435e-03 9.99984431e-01 -4.22873525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68241403699997 meters 0.1008317839411704 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.63, Z:-4.23 [[ 9.99985944e-01 -3.78663184e-03 -3.71128043e-03 2.01676468e+02] [ 3.80435836e-03 9.99981334e-01 4.78102562e-03 -1.56301653e+01] [ 3.69310717e-03 -4.79507745e-03 9.99981684e-01 -4.22856944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74241403699997 meters 0.10569178056359732 Centerline is valid? [False, False] Translation: X:201.68, Y:-15.63, Z:-4.23 [[ 9.99986018e-01 -3.48634542e-03 -3.97598998e-03 2.01676816e+02] [ 3.50662794e-03 9.99980817e-01 5.10573775e-03 -1.56313184e+01] [ 3.95811334e-03 -5.11960868e-03 9.99979061e-01 -4.22826760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80241403699998 meters 0.09945453301657026 Centerline is valid? [False, True] Translation: X:201.67, Y:-15.63, Z:-4.23 [[ 9.99993700e-01 1.96143259e-03 2.95842763e-03 2.01667375e+02] [-1.96783467e-03 9.99995725e-01 2.16265810e-03 -1.56329904e+01] [-2.95417307e-03 -2.16846617e-03 9.99993285e-01 -4.23202704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86241403699998 meters 0.09838336540508032 Centerline is valid? [True, True] Translation: X:201.73, Y:-15.64, Z:-4.23 [[ 9.99992204e-01 3.00856068e-03 2.55748684e-03 2.01727360e+02] [-3.00784389e-03 9.99995436e-01 -2.84070715e-04 -1.56386385e+01] [-2.55832981e-03 2.76375979e-04 9.99996689e-01 -4.23415076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92241403699998 meters 0.09565277139965911 Centerline is valid? [True, True] Translation: X:201.79, Y:-15.64, Z:-4.24 [[ 9.99996034e-01 1.23649275e-03 2.53038915e-03 2.01788193e+02] [-1.23578760e-03 9.99999197e-01 -2.80215989e-04 -1.56428772e+01] [-2.53073360e-03 2.77087854e-04 9.99996759e-01 -4.23523075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98241403699998 meters 0.10038964422358798 Centerline is valid? [True, False] Translation: X:201.79, Y:-15.64, Z:-4.24 [[ 9.99995360e-01 1.67843913e-03 2.54203214e-03 2.01788548e+02] [-1.67975332e-03 9.99998457e-01 5.14938339e-04 -1.56446380e+01] [-2.54116393e-03 -5.19205937e-04 9.99996636e-01 -4.23580383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042414037 meters 0.09881804048514323 Centerline is valid? [False, True] Translation: X:201.79, Y:-15.64, Z:-4.24 [[ 9.99995443e-01 1.84833556e-03 2.38683281e-03 2.01789064e+02] [-1.84994863e-03 9.99998062e-01 6.73790049e-04 -1.56447060e+01] [-2.38558279e-03 -6.78202497e-04 9.99996925e-01 -4.23608891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102414037 meters 0.10101562294061249 Centerline is valid? [True, False] Translation: X:201.79, Y:-15.64, Z:-4.24 [[ 9.99995661e-01 1.42914221e-03 2.57598558e-03 2.01788293e+02] [-1.42965800e-03 9.99998958e-01 1.98398030e-04 -1.56440908e+01] [-2.57569936e-03 -2.02079947e-04 9.99996662e-01 -4.23549857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162414037 meters 0.09649498328132682 Centerline is valid? [False, True] Translation: X:201.79, Y:-15.64, Z:-4.24 [[ 9.99995494e-01 1.55154218e-03 2.56988242e-03 2.01788483e+02] [-1.55252828e-03 9.99998722e-01 3.81764219e-04 -1.56443284e+01] [-2.56928681e-03 -3.85752314e-04 9.99996625e-01 -4.23576133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222414037 meters 0.09844212713387862 Centerline is valid? [True, True] Translation: X:201.85, Y:-15.66, Z:-4.24 [[ 9.99995875e-01 6.06108342e-05 2.87179258e-03 2.01848388e+02] [-5.96656474e-05 9.99999944e-01 -3.29212328e-04 -1.56552494e+01] [-2.87181238e-03 3.29039622e-04 9.99995822e-01 -4.23764958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282414037 meters 0.10227994160355658 Centerline is valid? [True, False] Translation: X:201.85, Y:-15.66, Z:-4.24 [[ 9.99995688e-01 5.56670617e-05 2.93623299e-03 2.01848196e+02] [-5.49378373e-05 9.99999968e-01 -2.48433792e-04 -1.56557854e+01] [-2.93624673e-03 2.48271410e-04 9.99995658e-01 -4.23757989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342414037 meters 0.09837620612516541 Centerline is valid? [False, True] Translation: X:201.85, Y:-15.66, Z:-4.24 [[ 9.99995897e-01 3.43810870e-04 2.84403989e-03 2.01848422e+02] [-3.44302842e-04 9.99999926e-01 1.72495711e-04 -1.56568416e+01] [-2.84398037e-03 -1.73474214e-04 9.99995941e-01 -4.23762254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402414037 meters 0.09954787479569727 Centerline is valid? [True, True] Translation: X:201.91, Y:-15.67, Z:-4.24 [[ 9.99995641e-01 -5.20008683e-04 2.90652345e-03 2.01909193e+02] [ 5.20987321e-04 9.99999808e-01 -3.35956974e-04 -1.56667175e+01] [-2.90634819e-03 3.37469771e-04 9.99995720e-01 -4.23891593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46241403699997 meters 0.10263309841712472 Centerline is valid? [True, False] Translation: X:201.91, Y:-15.67, Z:-4.24 [[ 9.99995345e-01 -1.73055331e-04 3.04647291e-03 2.01909273e+02] [ 1.71741950e-04 9.99999892e-01 4.31371449e-04 -1.56684502e+01] [-3.04654723e-03 -4.30846234e-04 9.99995266e-01 -4.23947352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52241403699998 meters 0.10080538321527188 Centerline is valid? [False, False] Translation: X:201.91, Y:-15.67, Z:-4.24 [[ 9.99995418e-01 -1.67194208e-04 3.02260085e-03 2.01909415e+02] [ 1.65861077e-04 9.99999889e-01 4.41299629e-04 -1.56683946e+01] [-3.02267430e-03 -4.40796275e-04 9.99995335e-01 -4.23963917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58241403699998 meters 0.10105246192890407 Centerline is valid? [False, False] Translation: X:201.91, Y:-15.67, Z:-4.24 [[ 9.99995586e-01 -2.36761449e-04 2.96167502e-03 2.01909659e+02] [ 2.35939372e-04 9.99999934e-01 2.77917948e-04 -1.56678538e+01] [-2.96174062e-03 -2.77217946e-04 9.99995576e-01 -4.23985868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64241403699998 meters 0.10402882844764952 Centerline is valid? [False, False] Translation: X:201.91, Y:-15.67, Z:-4.24 [[ 9.99996527e-01 -2.69148110e-04 2.62167847e-03 2.01910622e+02] [ 2.69509385e-04 9.99999954e-01 -1.37450541e-04 -1.56657583e+01] [-2.62164135e-03 1.38156630e-04 9.99996554e-01 -4.24029926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70241403699998 meters 0.09849113137237847 Centerline is valid? [False, True] Translation: X:201.91, Y:-15.66, Z:-4.24 [[ 9.99997222e-01 -4.88348078e-04 2.30580437e-03 2.01910988e+02] [ 4.90358172e-04 9.99999500e-01 -8.71269234e-04 -1.56635743e+01] [-2.30537773e-03 8.72397484e-04 9.99996962e-01 -4.23983797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76241403699999 meters 0.10089586701347018 Centerline is valid? [True, False] Translation: X:201.91, Y:-15.66, Z:-4.24 [[ 9.99997481e-01 -4.65453383e-04 2.19565063e-03 2.01911198e+02] [ 4.67556325e-04 9.99999432e-01 -9.57360117e-04 -1.56631679e+01] [-2.19520378e-03 9.58384296e-04 9.99997131e-01 -4.23981842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822414037 meters 0.10248798512930324 Centerline is valid? [False, False] Translation: X:201.91, Y:-15.66, Z:-4.24 [[ 9.99997997e-01 -9.92121539e-05 1.99901219e-03 2.01912113e+02] [ 1.00276765e-04 9.99999853e-01 -5.32475548e-04 -1.56635433e+01] [-1.99895907e-03 5.32674936e-04 9.99997860e-01 -4.24062485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882414037 meters 0.09837743085117087 Centerline is valid? [False, True] Translation: X:201.91, Y:-15.66, Z:-4.24 [[ 9.99998424e-01 2.15781224e-04 1.76205624e-03 2.01912941e+02] [-2.15500303e-04 9.99999964e-01 -1.59616035e-04 -1.56638866e+01] [-1.76209062e-03 1.59236060e-04 9.99998435e-01 -4.24119581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942414037 meters 0.1000153594566028 Centerline is valid? [True, False] Translation: X:201.91, Y:-15.66, Z:-4.24 [[ 9.99998681e-01 5.11784037e-04 1.54162524e-03 2.01913583e+02] [-5.12016196e-04 9.99999858e-01 1.50202408e-04 -1.56643770e+01] [-1.54154815e-03 -1.50991547e-04 9.99998800e-01 -4.24149364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002414037 meters 0.09982162537736992 Centerline is valid? [False, True] Translation: X:201.91, Y:-15.66, Z:-4.24 [[ 9.99998718e-01 6.36146543e-04 1.46973177e-03 2.01913715e+02] [-6.36614706e-04 9.99999747e-01 3.18090849e-04 -1.56647726e+01] [-1.46952904e-03 -3.19026094e-04 9.99998869e-01 -4.24146590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062414037 meters 0.098739847349525 Centerline is valid? [True, True] Translation: X:201.97, Y:-15.67, Z:-4.24 [[ 9.99998978e-01 -8.32494124e-04 1.16222609e-03 2.01974587e+02] [ 8.32649101e-04 9.99999645e-01 -1.32867464e-04 -1.56704119e+01] [-1.16211507e-03 1.33835055e-04 9.99999316e-01 -4.24315253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122414037 meters 0.10299463604015024 Centerline is valid? [True, False] Translation: X:201.97, Y:-15.67, Z:-4.24 [[ 9.99998914e-01 -5.42061400e-04 1.37017280e-03 2.01974505e+02] [ 5.41294841e-04 9.99999697e-01 5.59770414e-04 -1.56720166e+01] [-1.37047581e-03 -5.59028139e-04 9.99998905e-01 -4.24363535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18241403699997 meters 0.1035829978759087 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999177e-01 -5.21438856e-04 1.17237088e-03 2.01975107e+02] [ 5.20940600e-04 9.99999774e-01 4.25263932e-04 -1.56710298e+01] [-1.17259237e-03 -4.24652846e-04 9.99999222e-01 -4.24392266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24241403699997 meters 0.10465062801953058 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999366e-01 -4.80326574e-04 1.01881294e-03 2.01975675e+02] [ 4.79993294e-04 9.99999831e-01 3.27345467e-04 -1.56702327e+01] [-1.01897000e-03 -3.26856236e-04 9.99999427e-01 -4.24431230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30241403699998 meters 0.10396729658745886 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999585e-01 -2.50877057e-04 8.76109513e-04 2.01976280e+02] [ 2.50420146e-04 9.99999833e-01 5.21593338e-04 -1.56702016e+01] [-8.76240222e-04 -5.21373726e-04 9.99999480e-01 -4.24479987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36241403699998 meters 0.10317327433107268 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.25 [[ 9.99999693e-01 -7.23129609e-05 7.80355417e-04 2.01976723e+02] [ 7.17676721e-05 9.99999753e-01 6.98775189e-04 -1.56701911e+01] [-7.80405755e-04 -6.98718970e-04 9.99999451e-01 -4.24518243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42241403699998 meters 0.09939415454520653 Centerline is valid? [False, True] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999569e-01 -1.93183828e-04 9.08338986e-04 2.01976132e+02] [ 1.92585472e-04 9.99999764e-01 6.58777858e-04 -1.56708254e+01] [-9.08466038e-04 -6.58602641e-04 9.99999370e-01 -4.24467859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48241403699998 meters 0.10314930408632492 Centerline is valid? [True, False] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999552e-01 2.34468844e-04 9.17230715e-04 2.01976232e+02] [-2.35794656e-04 9.99998927e-01 1.44560964e-03 -1.56727990e+01] [-9.16890780e-04 -1.44582527e-03 9.99998534e-01 -4.24487510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542414037 meters 0.10061362931122748 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.25 [[ 9.99999706e-01 4.61438485e-04 6.11895889e-04 2.01976975e+02] [-4.62406800e-04 9.99998640e-01 1.58328691e-03 -1.56728785e+01] [-6.11164467e-04 -1.58356939e-03 9.99998559e-01 -4.24503587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602414037 meters 0.10007503139293074 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.25 [[ 9.99999710e-01 6.19365248e-04 4.44024828e-04 2.01977526e+02] [-6.20116475e-04 9.99998373e-01 1.69372058e-03 -1.56729431e+01] [-4.42975074e-04 -1.69399543e-03 9.99998467e-01 -4.24537266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662414037 meters 0.1011009697297231 Centerline is valid? [False, False] Translation: X:201.98, Y:-15.67, Z:-4.25 [[ 9.99999459e-01 1.03284124e-03 1.26216134e-04 2.01978522e+02] [-1.03309880e-03 9.99997349e-01 2.05788234e-03 -1.56733023e+01] [-1.24090333e-04 -2.05801162e-03 9.99997875e-01 -4.24593442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722414037 meters 0.09732421810578702 Centerline is valid? [False, True] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999865e-01 5.15487895e-04 -6.06028515e-05 2.01978122e+02] [-5.15424303e-04 9.99999321e-01 1.04468887e-03 -1.56713294e+01] [ 6.11413348e-05 -1.04465749e-03 9.99999452e-01 -4.24473219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782414037 meters 0.10289488760515743 Centerline is valid? [True, False] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999659e-01 7.35049961e-04 -3.76593909e-04 2.01978928e+02] [-7.34639353e-04 9.99999137e-01 1.08929932e-03 -1.56708372e+01] [ 3.77394273e-04 -1.08902229e-03 9.99999336e-01 -4.24498601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842414037 meters 0.09396136844650535 Centerline is valid? [False, True] Translation: X:201.98, Y:-15.67, Z:-4.24 [[ 9.99999760e-01 6.22704834e-04 -3.02846728e-04 2.01978796e+02] [-6.22422028e-04 9.99999371e-01 9.33024397e-04 -1.56705857e+01] [ 3.03427536e-04 -9.32835674e-04 9.99999519e-01 -4.24499418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902414037 meters 0.09787542760620248 Centerline is valid? [True, True] Translation: X:202.04, Y:-15.68, Z:-4.25 [[ 9.99998437e-01 -4.15213755e-04 -1.71844576e-03 2.02037286e+02] [ 4.15536047e-04 9.99999896e-01 1.87195631e-04 -1.56835772e+01] [ 1.71836785e-03 -1.87909415e-04 9.99998506e-01 -4.24821974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96241403699997 meters 0.0986716900448858 Centerline is valid? [True, True] Translation: X:202.10, Y:-15.69, Z:-4.25 [[ 9.99997202e-01 -1.50086440e-03 -1.82846850e-03 2.02096444e+02] [ 1.50123056e-03 9.99998853e-01 1.98896465e-04 -1.56906366e+01] [ 1.82816789e-03 -2.01640861e-04 9.99998309e-01 -4.25078243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02241403699998 meters 0.09851421950940088 Centerline is valid? [True, True] Translation: X:202.16, Y:-15.70, Z:-4.25 [[ 9.99994234e-01 -2.78598774e-03 -1.94150599e-03 2.02156067e+02] [ 2.78640400e-03 9.99996096e-01 2.11731504e-04 -1.56964239e+01] [ 1.94090853e-03 -2.17140103e-04 9.99998093e-01 -4.25226281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08241403699998 meters 0.09689187879513093 Centerline is valid? [True, True] Translation: X:202.22, Y:-15.70, Z:-4.25 [[ 9.99992521e-01 -3.83471573e-03 -5.02842679e-04 2.02217102e+02] [ 3.83474405e-03 9.99992646e-01 5.53710958e-05 -1.56985377e+01] [ 5.02626649e-04 -5.72989547e-05 9.99999872e-01 -4.25229525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14241403699998 meters 0.09885493259977338 Centerline is valid? [True, True] Translation: X:202.28, Y:-15.71, Z:-4.25 [[ 9.99992613e-01 -3.81765336e-03 4.45855484e-04 2.02278245e+02] [ 3.81767503e-03 9.99992712e-01 -4.77757371e-05 -1.57074974e+01] [-4.45669843e-04 4.94775156e-05 9.99999899e-01 -4.25470871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20241403699998 meters 0.0955841077952374 Centerline is valid? [True, True] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99992130e-01 -3.95316674e-03 -3.36195904e-04 2.02339839e+02] [ 3.95317963e-03 9.99992185e-01 3.76806808e-05 -1.57073787e+01] [ 3.36044319e-04 -3.90094271e-05 9.99999943e-01 -4.25554763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26241403699999 meters 0.10102852524234548 Centerline is valid? [True, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991630e-01 -4.04933926e-03 -5.85397432e-04 2.02340766e+02] [ 4.04907552e-03 9.99991701e-01 -4.51025110e-04 -1.57048263e+01] [ 5.87218927e-04 4.48651016e-04 9.99999727e-01 -4.25616659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322414037 meters 0.09952416842036449 Centerline is valid? [False, True] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991751e-01 -4.02079582e-03 -5.74605468e-04 2.02341036e+02] [ 4.02053379e-03 9.99991813e-01 -4.56456172e-04 -1.57042934e+01] [ 5.76436081e-04 4.54142186e-04 9.99999731e-01 -4.25658760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382414037 meters 0.10442358613022756 Centerline is valid? [True, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991936e-01 -4.01227730e-03 -1.70725193e-04 2.02340648e+02] [ 4.01225717e-03 9.99991944e-01 -1.18120018e-04 -1.57049803e+01] [ 1.71197748e-04 1.17434073e-04 9.99999978e-01 -4.25720979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442414037 meters 0.10306347012322525 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991868e-01 -4.03196634e-03 8.94686479e-05 2.02340667e+02] [ 4.03195989e-03 9.99991869e-01 7.21548135e-05 -1.57048347e+01] [-8.97588462e-05 -7.17934927e-05 9.99999993e-01 -4.25804093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502414037 meters 0.10439961927589166 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991349e-01 -4.15672583e-03 1.50477587e-04 2.02340629e+02] [ 4.15674341e-03 9.99991354e-01 -1.16721240e-04 -1.57041261e+01] [-1.49991108e-04 1.17345727e-04 9.99999982e-01 -4.25813637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562414037 meters 0.10606637851266461 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99990388e-01 -4.38439976e-03 -2.83364855e-05 2.02340852e+02] [ 4.38437977e-03 9.99990164e-01 -6.70646954e-04 -1.57022939e+01] [ 3.12765911e-05 6.70516270e-04 9.99999775e-01 -4.25790228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622414037 meters 0.10211962925111186 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99990455e-01 -4.36869846e-03 -6.55776382e-05 2.02341064e+02] [ 4.36864968e-03 9.99990194e-01 -7.26407215e-04 -1.57017062e+01] [ 6.87504492e-05 7.26113796e-04 9.99999734e-01 -4.25808377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68241403699997 meters 0.10362944645466475 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991399e-01 -4.14671459e-03 -8.73612361e-05 2.02341461e+02] [ 4.14667835e-03 9.99991318e-01 -4.10913055e-04 -1.57020529e+01] [ 8.90644168e-05 4.10547261e-04 9.99999912e-01 -4.25861183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74241403699997 meters 0.10409926414371552 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99991774e-01 -4.04450944e-03 -3.06832557e-04 2.02342333e+02] [ 4.04436553e-03 9.99991712e-01 -4.68176917e-04 -1.57009060e+01] [ 3.08723560e-04 4.66932122e-04 9.99999843e-01 -4.25924889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80241403699998 meters 0.10826365564086352 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99992353e-01 -3.89459980e-03 -3.55034690e-04 2.02342945e+02] [ 3.89449572e-03 9.99992373e-01 -2.93354057e-04 -1.57004329e+01] [ 3.56174479e-04 2.91969133e-04 9.99999894e-01 -4.26002208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86241403699998 meters 0.10779505508231703 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99993734e-01 -3.53956395e-03 -6.14929762e-05 2.02342866e+02] [ 3.53959928e-03 9.99993565e-01 5.84116688e-04 -1.57023781e+01] [ 5.94250621e-05 -5.84330688e-04 9.99999828e-01 -4.26083154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92241403699998 meters 0.10461386612843715 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.70, Z:-4.26 [[ 9.99993436e-01 -3.61269226e-03 2.75517348e-04 2.02342061e+02] [ 3.61246791e-03 9.99993147e-01 8.10492746e-04 -1.57035088e+01] [-2.78443521e-04 -8.09492128e-04 9.99999634e-01 -4.26061529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98241403699998 meters 0.11185261774741231 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99993067e-01 -3.62606559e-03 8.47358570e-04 2.02340831e+02] [ 3.62479193e-03 9.99992306e-01 1.49983402e-03 -1.57063052e+01] [-8.52790547e-04 -1.49675212e-03 9.99998516e-01 -4.26037566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042414037 meters 0.10923800922367338 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99993237e-01 -3.45916821e-03 1.24927400e-03 2.02339854e+02] [ 3.45631750e-03 9.99991435e-01 2.27688924e-03 -1.57092700e+01] [-1.25713944e-03 -2.27255595e-03 9.99996628e-01 -4.26002104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102414037 meters 0.10979381662767249 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99994480e-01 -3.12247502e-03 1.13581310e-03 2.02340096e+02] [ 3.11934726e-03 9.99991367e-01 2.74519348e-03 -1.57104702e+01] [-1.14437509e-03 -2.74163534e-03 9.99995587e-01 -4.26003391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162414037 meters 0.10948113205137772 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99996094e-01 -2.63056036e-03 9.44473288e-04 2.02340743e+02] [ 2.62734133e-03 9.99990791e-01 3.39349205e-03 -1.57119602e+01] [-9.53391375e-04 -3.39099734e-03 9.99993796e-01 -4.26041681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222414037 meters 0.10871914257498107 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99997735e-01 -2.05196020e-03 5.65661996e-04 2.02341709e+02] [ 2.04965645e-03 9.99989724e-01 4.04359448e-03 -1.57135988e+01] [-5.73953478e-04 -4.04242591e-03 9.99991665e-01 -4.26073441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282414037 meters 0.10781879655483519 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99998068e-01 -1.95670278e-03 1.88175301e-04 2.02342221e+02] [ 1.95595016e-03 9.99990404e-01 3.91987461e-03 -1.57134491e+01] [-1.95843525e-04 -3.91949898e-03 9.99992300e-01 -4.26036614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342414037 meters 0.10759197431062038 Centerline is valid? [False, False] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99998391e-01 -1.72562101e-03 -4.90209853e-04 2.02343206e+02] [ 1.72739869e-03 9.99991849e-01 3.64939376e-03 -1.57125307e+01] [ 4.83908387e-04 -3.65023467e-03 9.99993221e-01 -4.25986677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402414037 meters 0.09920522846192575 Centerline is valid? [False, True] Translation: X:202.34, Y:-15.71, Z:-4.26 [[ 9.99998451e-01 -1.25350676e-03 -1.23525450e-03 2.02344477e+02] [ 1.25804121e-03 9.99992449e-01 3.67695469e-03 -1.57123674e+01] [ 1.23063609e-03 -3.67850299e-03 9.99992477e-01 -4.25957006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46241403699997 meters 0.09876592725146972 Centerline is valid? [True, True] Translation: X:202.40, Y:-15.72, Z:-4.26 [[ 9.99995639e-01 2.52395116e-03 -1.53326615e-03 2.02404994e+02] [-2.52368329e-03 9.99996800e-01 1.76616920e-04 -1.57187351e+01] [ 1.53370702e-03 -1.72746672e-04 9.99998809e-01 -4.26022353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52241403699998 meters 0.09747954744053765 Centerline is valid? [True, True] Translation: X:202.46, Y:-15.72, Z:-4.26 [[ 9.99990366e-01 3.75261035e-03 -2.27726504e-03 2.02464567e+02] [-3.75202605e-03 9.99992927e-01 2.60798822e-04 -1.57245132e+01] [ 2.27822761e-03 -2.52251952e-04 9.99997373e-01 -4.26206283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58241403699998 meters 0.09869891731881883 Centerline is valid? [True, True] Translation: X:202.52, Y:-15.73, Z:-4.27 [[ 9.99971334e-01 5.32467161e-03 -5.38330210e-03 2.02522937e+02] [-5.32142242e-03 9.99985650e-01 6.17711134e-04 -1.57349248e+01] [ 5.38651396e-03 -5.89046602e-04 9.99985319e-01 -4.26644827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64241403699998 meters 0.09843716954881206 Centerline is valid? [True, True] Translation: X:202.58, Y:-15.74, Z:-4.27 [[ 9.99955927e-01 6.19385968e-03 -7.05555251e-03 2.02581660e+02] [-6.18831166e-03 9.99980526e-01 8.07893290e-04 -1.57425834e+01] [ 7.06041909e-03 -7.64195726e-04 9.99974783e-01 -4.26862894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70241403699998 meters 0.0971690804915462 Centerline is valid? [True, True] Translation: X:202.64, Y:-15.75, Z:-4.27 [[ 9.99954148e-01 6.11375424e-03 -7.37053592e-03 2.02640159e+02] [-6.10769411e-03 9.99980991e-01 8.44439218e-04 -1.57485232e+01] [ 7.37555851e-03 -7.99383519e-04 9.99972481e-01 -4.26956435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76241403699999 meters 0.09337567871775336 Centerline is valid? [True, True] Translation: X:202.70, Y:-15.75, Z:-4.27 [[ 9.99954111e-01 6.55155542e-03 -6.98946317e-03 2.02699697e+02] [-6.54613002e-03 9.99978255e-01 7.98819892e-04 -1.57502201e+01] [ 6.99454470e-03 -7.53029300e-04 9.99975254e-01 -4.26848075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822414037 meters 0.09452837082553153 Centerline is valid? [True, True] Translation: X:202.76, Y:-15.76, Z:-4.27 [[ 9.99953637e-01 6.73983793e-03 -6.87736182e-03 2.02757782e+02] [-6.73458620e-03 9.99977013e-01 7.86498897e-04 -1.57587361e+01] [ 6.88250460e-03 -7.40146247e-04 9.99976041e-01 -4.27080011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882414037 meters 0.09517121773235196 Centerline is valid? [True, True] Translation: X:202.82, Y:-15.77, Z:-4.27 [[ 9.99928359e-01 8.80242260e-03 -8.11139841e-03 2.02816429e+02] [-8.79517816e-03 9.99960891e-01 9.28357660e-04 -1.57680667e+01] [ 8.11925297e-03 -8.56949958e-04 9.99966671e-01 -4.27291132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942414037 meters 0.09583376423659112 Centerline is valid? [True, True] Translation: X:202.88, Y:-15.78, Z:-4.28 [[ 9.99917910e-01 1.02367433e-02 -7.70596244e-03 2.02875959e+02] [-1.02302456e-02 9.99947281e-01 8.82155031e-04 -1.57762576e+01] [ 7.71458658e-03 -8.03248727e-04 9.99969920e-01 -4.27509826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002414037 meters 0.09544325783010447 Centerline is valid? [True, True] Translation: X:202.94, Y:-15.78, Z:-4.28 [[ 9.99900432e-01 1.17341253e-02 -7.83816573e-03 2.02935754e+02] [-1.17274492e-02 9.99930829e-01 8.97161087e-04 -1.57833823e+01] [ 7.84815095e-03 -8.05150067e-04 9.99968879e-01 -4.27545043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062414037 meters 0.09422573150428284 Centerline is valid? [True, True] Translation: X:202.99, Y:-15.79, Z:-4.28 [[ 9.99898780e-01 1.08856833e-02 -9.16137439e-03 2.02994614e+02] [-1.08765381e-02 9.99940300e-01 1.04746425e-03 -1.57897759e+01] [ 9.17222982e-03 -9.47714193e-04 9.99957485e-01 -4.27651838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122414037 meters 0.09397646532053491 Centerline is valid? [True, True] Translation: X:203.05, Y:-15.80, Z:-4.28 [[ 9.99892565e-01 1.03376064e-02 -1.03919557e-02 2.03053274e+02] [-1.03258142e-02 9.99945982e-01 1.18776086e-03 -1.57972765e+01] [ 1.04036729e-02 -1.08032784e-03 9.99945297e-01 -4.27875795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18241403699997 meters 0.09315219636302015 Centerline is valid? [True, True] Translation: X:203.11, Y:-15.80, Z:-4.28 [[ 9.99893189e-01 1.06087668e-02 -1.00530904e-02 2.03111501e+02] [-1.05977560e-02 9.99943183e-01 1.14790877e-03 -1.58028829e+01] [ 1.00646971e-02 -1.04124596e-03 9.99948808e-01 -4.28010195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24241403699997 meters 0.08977923072476417 Centerline is valid? [True, True] Translation: X:203.17, Y:-15.80, Z:-4.28 [[ 9.99890416e-01 1.13458131e-02 -9.50942299e-03 2.03170568e+02] [-1.13360018e-02 9.99935157e-01 1.08501410e-03 -1.58034194e+01] [ 9.52111673e-03 -9.77096359e-04 9.99954196e-01 -4.27851570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30241403699998 meters 0.09076383921402444 Centerline is valid? [True, True] Translation: X:203.23, Y:-15.81, Z:-4.28 [[ 9.99896475e-01 1.18916245e-02 -8.10116415e-03 2.03228784e+02] [-1.18845281e-02 9.99928950e-01 9.23546692e-04 -1.58121755e+01] [ 8.11157103e-03 -8.27172569e-04 9.99966759e-01 -4.27871932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36241403699998 meters 0.09335365814980615 Centerline is valid? [True, True] Translation: X:203.29, Y:-15.82, Z:-4.28 [[ 9.99880261e-01 1.26680824e-02 -8.88723918e-03 2.03285398e+02] [-1.26595811e-02 9.99919352e-01 1.01217594e-03 -1.58232659e+01] [ 8.89934477e-03 -8.99546020e-04 9.99959995e-01 -4.28130554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42241403699998 meters 0.0925872770645509 Centerline is valid? [True, True] Translation: X:203.34, Y:-15.83, Z:-4.28 [[ 9.99834424e-01 1.48927057e-02 -1.04562348e-02 2.03344656e+02] [-1.48810467e-02 9.99888561e-01 1.19195186e-03 -1.58281710e+01] [ 1.04728210e-02 -1.03615478e-03 9.99944622e-01 -4.28442674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48241403699998 meters 0.09249132254650765 Centerline is valid? [True, True] Translation: X:203.41, Y:-15.83, Z:-4.29 [[ 9.99784140e-01 1.79294864e-02 -1.04979348e-02 2.03405448e+02] [-1.79178877e-02 9.99838744e-01 1.19787700e-03 -1.58320484e+01] [ 1.05177193e-02 -1.00951761e-03 9.99944178e-01 -4.28631839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542414037 meters 0.09299509214425149 Centerline is valid? [True, True] Translation: X:203.46, Y:-15.84, Z:-4.29 [[ 9.99778287e-01 1.89790619e-02 -9.11982492e-03 2.03464572e+02] [-1.89703636e-02 9.99819506e-01 1.03935099e-03 -1.58377490e+01] [ 9.13790475e-03 -8.66114157e-04 9.99957873e-01 -4.28707190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602414037 meters 0.08807282097822426 Centerline is valid? [True, True] Translation: X:203.52, Y:-15.83, Z:-4.28 [[ 9.99803948e-01 1.81875859e-02 -7.82792672e-03 2.03524389e+02] [-1.81811649e-02 9.99834312e-01 8.90662061e-04 -1.58320369e+01] [ 7.84282872e-03 -7.48166619e-04 9.99968965e-01 -4.28448203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662414037 meters 0.0916380746752752 Centerline is valid? [True, True] Translation: X:203.58, Y:-15.84, Z:-4.29 [[ 9.99859711e-01 1.53119369e-02 -6.78986409e-03 2.03583059e+02] [-1.53070317e-02 9.99882541e-01 7.73810156e-04 -1.58446388e+01] [ 6.80091509e-03 -6.69768934e-04 9.99976649e-01 -4.28599018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722414037 meters 0.09178105671588008 Centerline is valid? [True, True] Translation: X:203.64, Y:-15.85, Z:-4.29 [[ 9.99902868e-01 1.19554128e-02 -7.16403772e-03 2.03642755e+02] [-1.19498675e-02 9.99928265e-01 8.16363499e-04 -1.58501956e+01] [ 7.17328376e-03 -7.30674903e-04 9.99974005e-01 -4.28625124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782414037 meters 0.0966365372971253 Centerline is valid? [True, True] Translation: X:203.70, Y:-15.86, Z:-4.29 [[ 9.99915292e-01 9.16473358e-03 -9.24207268e-03 2.03700658e+02] [-9.15539000e-03 9.99957534e-01 1.05278581e-03 -1.58642746e+01] [ 9.25132871e-03 -9.68081855e-04 9.99956737e-01 -4.29132131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842414037 meters 0.09618210537334114 Centerline is valid? [True, True] Translation: X:203.76, Y:-15.87, Z:-4.29 [[ 9.99924169e-01 7.70400663e-03 -9.60749109e-03 2.03760563e+02] [-7.69384450e-03 9.99969803e-01 1.09424258e-03 -1.58683832e+01] [ 9.61563103e-03 -1.02024106e-03 9.99953248e-01 -4.29307863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902414037 meters 0.09414449662155078 Centerline is valid? [True, True] Translation: X:203.82, Y:-15.87, Z:-4.29 [[ 9.99939508e-01 7.20763871e-03 -8.30840592e-03 2.03819203e+02] [-7.20004526e-03 9.99973634e-01 9.43497179e-04 -1.58687761e+01] [ 8.31498725e-03 -8.83619207e-04 9.99965039e-01 -4.29298986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96241403699997 meters 0.09485432200460668 Centerline is valid? [True, True] Translation: X:203.88, Y:-15.87, Z:-4.29 [[ 9.99943046e-01 6.93177820e-03 -8.11509443e-03 2.03878152e+02] [-6.92452401e-03 9.99975600e-01 9.21669566e-04 -1.58749342e+01] [ 8.12128524e-03 -8.65423907e-04 9.99966647e-01 -4.29369938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02241403699998 meters 0.09697976477289874 Centerline is valid? [True, True] Translation: X:203.94, Y:-15.88, Z:-4.30 [[ 9.99941912e-01 6.57578052e-03 -8.54005523e-03 2.03935478e+02] [-6.56774237e-03 9.99977963e-01 9.68933718e-04 -1.58819850e+01] [ 8.54623853e-03 -9.12788551e-04 9.99963064e-01 -4.29567138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08241403699998 meters 0.09688050258308502 Centerline is valid? [True, True] Translation: X:203.99, Y:-15.88, Z:-4.30 [[ 9.99950779e-01 6.34238464e-03 -7.62975826e-03 2.03994793e+02] [-6.33596476e-03 9.99979553e-01 8.65303986e-04 -1.58840839e+01] [ 7.63509035e-03 -8.16919516e-04 9.99970519e-01 -4.29579641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14241403699998 meters 0.09833784750467045 Centerline is valid? [True, True] Translation: X:204.05, Y:-15.89, Z:-4.30 [[ 9.99962554e-01 5.68863678e-03 -6.52144509e-03 2.04053297e+02] [-5.68393701e-03 9.99983573e-01 7.38971600e-04 -1.58917274e+01] [ 6.52554170e-03 -7.01876446e-04 9.99978462e-01 -4.29751381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20241403699998 meters 0.09560441004919348 Centerline is valid? [True, True] Translation: X:204.11, Y:-15.89, Z:-4.30 [[ 9.99963522e-01 5.43050790e-03 -6.59273535e-03 2.04112712e+02] [-5.42570247e-03 9.99985002e-01 7.46565589e-04 -1.58896542e+01] [ 6.59669070e-03 -7.10768135e-04 9.99977989e-01 -4.29717694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26241403699999 meters 0.09729299504210012 Centerline is valid? [True, True] Translation: X:204.17, Y:-15.90, Z:-4.30 [[ 9.99962200e-01 5.87948524e-03 -6.40542714e-03 2.04170908e+02] [-5.87496106e-03 9.99982480e-01 7.24891546e-04 -1.58954846e+01] [ 6.40957690e-03 -6.87232510e-04 9.99979222e-01 -4.29972949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322414037 meters 0.09681817232658418 Centerline is valid? [True, True] Translation: X:204.23, Y:-15.90, Z:-4.30 [[ 9.99962749e-01 5.43155879e-03 -6.70806199e-03 2.04229894e+02] [-5.42658980e-03 9.99984988e-01 7.58728261e-04 -1.58995545e+01] [ 6.71208237e-03 -7.22298098e-04 9.99977213e-01 -4.30069408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382414037 meters 0.09877528297679454 Centerline is valid? [True, True] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99962476e-01 3.40041865e-03 -7.96768503e-03 2.04289966e+02] [-3.39333177e-03 9.99993835e-01 9.02802854e-04 -1.59079717e+01] [ 7.97070582e-03 -8.75731978e-04 9.99967850e-01 -4.30385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442414037 meters 0.10012189803824836 Centerline is valid? [True, False] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99965043e-01 3.25222298e-03 -7.70295651e-03 2.04289689e+02] [-3.24569923e-03 9.99994364e-01 8.59264449e-04 -1.59076276e+01] [ 7.70570761e-03 -8.34232932e-04 9.99969963e-01 -4.30421170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502414037 meters 0.10437410458812685 Centerline is valid? [False, False] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99971715e-01 2.73168630e-03 -7.00759317e-03 2.04288133e+02] [-2.72656874e-03 9.99996009e-01 7.39737226e-04 -1.59080548e+01] [ 7.00958594e-03 -7.20609618e-04 9.99975173e-01 -4.30397264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562414037 meters 0.1037054430447954 Centerline is valid? [False, False] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99975987e-01 2.43601391e-03 -6.48780000e-03 2.04287104e+02] [-2.43097627e-03 9.99996738e-01 7.84251830e-04 -1.59085899e+01] [ 6.48968928e-03 -7.68461309e-04 9.99978646e-01 -4.30400673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622414037 meters 0.10640426544955082 Centerline is valid? [False, False] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99978390e-01 2.17999617e-03 -6.20220398e-03 2.04286407e+02] [-2.17600125e-03 9.99997421e-01 6.50787936e-04 -1.59086198e+01] [ 6.20360669e-03 -6.37277869e-04 9.99980554e-01 -4.30383885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68241403699997 meters 0.10357614048091901 Centerline is valid? [False, False] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99976562e-01 2.40656875e-03 -6.40968573e-03 2.04286985e+02] [-2.40124094e-03 9.99996765e-01 8.38779530e-04 -1.59086896e+01] [ 6.41168357e-03 -8.23368671e-04 9.99979106e-01 -4.30402457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74241403699997 meters 0.1705952894693478 Centerline is valid? [False, False] Translation: X:204.37, Y:-15.92, Z:-4.30 [[ 9.99973630e-01 3.64592271e-03 -6.28070945e-03 2.04368892e+02] [-3.65482591e-03 9.99992332e-01 -1.40665301e-03 -1.59175128e+01] [ 6.27553274e-03 1.42957081e-03 9.99979287e-01 -4.30303880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80241403699998 meters 0.10356210225477169 Centerline is valid? [False, False] Translation: X:204.28, Y:-15.91, Z:-4.30 [[ 9.99982116e-01 5.40945330e-03 -2.55077050e-03 2.04284270e+02] [-5.40404529e-03 9.99983146e-01 2.12229398e-03 -1.59076933e+01] [ 2.56220796e-03 -2.10847154e-03 9.99994495e-01 -4.30407153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86241403699998 meters 0.10124017423548572 Centerline is valid? [False, False] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99977052e-01 5.99068747e-03 -3.16341269e-03 2.04286081e+02] [-5.98324221e-03 9.99979321e-01 2.35779564e-03 -1.59070160e+01] [ 3.17747209e-03 -2.33881407e-03 9.99992217e-01 -4.30496170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92241403699998 meters 0.09979734083153927 Centerline is valid? [False, True] Translation: X:204.29, Y:-15.91, Z:-4.30 [[ 9.99975836e-01 6.09878664e-03 -3.33641750e-03 2.04286321e+02] [-6.09091528e-03 9.99978655e-01 2.36432026e-03 -1.59073542e+01] [ 3.35076577e-03 -2.34394129e-03 9.99991639e-01 -4.30476857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98241403699998 meters 0.09884377200815411 Centerline is valid? [True, True] Translation: X:204.34, Y:-15.91, Z:-4.30 [[ 9.99973253e-01 6.57174023e-03 -3.21027144e-03 2.04344623e+02] [-6.57057397e-03 9.99978344e-01 3.73701940e-04 -1.59125491e+01] [ 3.21265779e-03 -3.52598618e-04 9.99994777e-01 -4.30376273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042414037 meters 0.10038451410182789 Centerline is valid? [True, False] Translation: X:204.34, Y:-15.91, Z:-4.30 [[ 9.99973996e-01 6.54776185e-03 -3.02222532e-03 2.04343886e+02] [-6.54601114e-03 9.99978401e-01 5.88806898e-04 -1.59140119e+01] [ 3.02601541e-03 -5.69008066e-04 9.99995260e-01 -4.30321972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102414037 meters 0.10580563220982671 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99991982e-01 2.60326821e-03 -3.04271292e-03 2.04344087e+02] [-2.61243795e-03 9.99992047e-01 -3.01359311e-03 -1.59158559e+01] [ 3.03484353e-03 3.02151785e-03 9.99990830e-01 -4.30352793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162414037 meters 0.1093014253469314 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99993167e-01 2.81122164e-03 -2.40076970e-03 2.04343300e+02] [-2.81582769e-03 9.99994197e-01 -1.91735083e-03 -1.59189767e+01] [ 2.39536568e-03 1.92409788e-03 9.99995280e-01 -4.30439183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222414037 meters 0.10245924189375752 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99993911e-01 2.64739957e-03 -2.27365374e-03 2.04342747e+02] [-2.65200261e-03 9.99994435e-01 -2.02389018e-03 -1.59192268e+01] [ 2.26828304e-03 2.02990760e-03 9.99995367e-01 -4.30397831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282414037 meters 0.10063872458709773 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99993451e-01 2.82679965e-03 -2.25968473e-03 2.04342593e+02] [-2.83058873e-03 9.99994590e-01 -1.67538295e-03 -1.59203595e+01] [ 2.25493653e-03 1.68176821e-03 9.99996043e-01 -4.30380475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342414037 meters 0.10185297889548502 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99992189e-01 3.21094222e-03 -2.30471528e-03 2.04342802e+02] [-3.21340293e-03 9.99994270e-01 -1.06477560e-03 -1.59218362e+01] [ 2.30128314e-03 1.07217326e-03 9.99996777e-01 -4.30399046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40241403699997 meters 0.09915143874902299 Centerline is valid? [False, True] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99990650e-01 3.62942862e-03 -2.35084274e-03 2.04343259e+02] [-3.63039809e-03 9.99993327e-01 -4.08256792e-04 -1.59234325e+01] [ 2.34934531e-03 4.16787470e-04 9.99997153e-01 -4.30453968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46241403699997 meters 0.10063448743557542 Centerline is valid? [True, False] Translation: X:204.34, Y:-15.92, Z:-4.30 [[ 9.99989908e-01 3.85637686e-03 -2.30501334e-03 2.04343253e+02] [-3.85622829e-03 9.99992562e-01 6.88975820e-05 -1.59249190e+01] [ 2.30526189e-03 -6.00082290e-05 9.99997341e-01 -4.30469668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52241403699998 meters 0.10014898424465121 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.93, Z:-4.30 [[ 9.99988606e-01 4.26634026e-03 -2.14176330e-03 2.04342669e+02] [-4.26431624e-03 9.99990458e-01 9.48706589e-04 -1.59282035e+01] [ 2.14579036e-03 -9.39562623e-04 9.99997256e-01 -4.30433472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58241403699998 meters 0.1014217658298277 Centerline is valid? [False, False] Translation: X:204.34, Y:-15.93, Z:-4.30 [[ 9.99988115e-01 4.46840541e-03 -1.95003488e-03 2.04341709e+02] [-4.46533731e-03 9.99988790e-01 1.57488090e-03 -1.59309582e+01] [ 1.95705022e-03 -1.56615462e-03 9.99996859e-01 -4.30348327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64241403699998 meters 0.0984507072316633 Centerline is valid? [False, True] Translation: X:204.34, Y:-15.93, Z:-4.30 [[ 9.99997040e-01 5.38982258e-04 -2.37249677e-03 2.04342365e+02] [-5.44516828e-04 9.99997131e-01 -2.33277658e-03 -1.59319390e+01] [ 2.37123264e-03 2.33406154e-03 9.99994465e-01 -4.30323706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70241403699998 meters 0.09888940039028152 Centerline is valid? [True, True] Translation: X:204.40, Y:-15.95, Z:-4.31 [[ 9.99993517e-01 -3.37942478e-04 -3.58490025e-03 2.04400908e+02] [ 3.39451173e-04 9.99999854e-01 4.20246928e-04 -1.59457170e+01] [ 3.58475771e-03 -4.21461102e-04 9.99993486e-01 -4.30771251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76241403699999 meters 0.09955896231414843 Centerline is valid? [True, True] Translation: X:204.46, Y:-15.96, Z:-4.31 [[ 9.99989875e-01 -5.11076879e-04 -4.47090297e-03 2.04459373e+02] [ 5.13418601e-04 9.99999732e-01 5.22637349e-04 -1.59556859e+01] [ 4.47063466e-03 -5.24927502e-04 9.99989869e-01 -4.30856684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822414037 meters 0.100929784258771 Centerline is valid? [True, False] Translation: X:204.46, Y:-15.96, Z:-4.31 [[ 9.99989832e-01 -3.23968929e-04 -4.49797044e-03 2.04459212e+02] [ 3.28108561e-04 9.99999523e-01 9.19625958e-04 -1.59570442e+01] [ 4.49767036e-03 -9.21092430e-04 9.99989461e-01 -4.30827945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882414037 meters 0.09861063233594453 Centerline is valid? [False, True] Translation: X:204.46, Y:-15.96, Z:-4.31 [[ 9.99981327e-01 -3.23444103e-03 -5.18494680e-03 2.04461424e+02] [ 3.22618844e-03 9.99993517e-01 -1.59921876e-03 -1.59601573e+01] [ 5.19008576e-03 1.58246128e-03 9.99985279e-01 -4.30955533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942414037 meters 0.10539125512079459 Centerline is valid? [True, False] Translation: X:204.46, Y:-15.96, Z:-4.31 [[ 9.99983413e-01 -2.77386143e-03 -5.04771800e-03 2.04461232e+02] [ 2.77066814e-03 9.99995957e-01 -6.39502974e-04 -1.59629568e+01] [ 5.04947149e-03 6.25506815e-04 9.99987056e-01 -4.30972513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002414037 meters 0.09645958761760642 Centerline is valid? [False, True] Translation: X:204.46, Y:-15.97, Z:-4.31 [[ 9.99984806e-01 -2.38272774e-03 -4.97090712e-03 2.04461161e+02] [ 2.38335988e-03 9.99997152e-01 1.21249184e-04 -1.59650162e+01] [ 4.97060406e-03 -1.33094802e-04 9.99987638e-01 -4.30988195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062414037 meters 0.09565267604655107 Centerline is valid? [True, True] Translation: X:204.52, Y:-15.97, Z:-4.31 [[ 9.99993393e-01 -1.37931563e-03 -3.36338315e-03 2.04520100e+02] [ 1.38061692e-03 9.99998973e-01 3.84607554e-04 -1.59747858e+01] [ 3.36284920e-03 -3.89248557e-04 9.99994270e-01 -4.31094627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122414037 meters 0.09780843866864325 Centerline is valid? [True, True] Translation: X:204.58, Y:-15.99, Z:-4.31 [[ 9.99991846e-01 -7.84440221e-04 -3.96140639e-03 2.04577690e+02] [ 7.86238939e-04 9.99999589e-01 4.52523764e-04 -1.59880441e+01] [ 3.96104978e-03 -4.55634686e-04 9.99992051e-01 -4.31390628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18241403699997 meters 0.09720437992617563 Centerline is valid? [True, True] Translation: X:204.64, Y:-16.00, Z:-4.32 [[ 9.99988721e-01 4.56177558e-05 -4.74937003e-03 2.04636684e+02] [-4.30390804e-05 9.99999852e-01 5.43051838e-04 -1.59953515e+01] [ 4.74939410e-03 -5.42841305e-04 9.99988574e-01 -4.31508359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24241403699997 meters 0.09745211419180907 Centerline is valid? [True, True] Translation: X:204.70, Y:-16.01, Z:-4.32 [[ 9.99984563e-01 1.71821970e-03 -5.28407633e-03 2.04695661e+02] [-1.71505117e-03 9.99998347e-01 6.04110259e-04 -1.60050472e+01] [ 5.28510559e-03 -5.95038472e-04 9.99985857e-01 -4.31793124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30241403699998 meters 0.09605234098957725 Centerline is valid? [True, True] Translation: X:204.75, Y:-16.01, Z:-4.32 [[ 9.99982117e-01 2.58062241e-03 -5.39508675e-03 2.04754520e+02] [-2.57733833e-03 9.99996489e-01 6.15579888e-04 -1.60101202e+01] [ 5.39665639e-03 -6.01663915e-04 9.99985257e-01 -4.31837735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36241403699998 meters 0.09558389377273022 Centerline is valid? [True, True] Translation: X:204.81, Y:-16.02, Z:-4.32 [[ 9.99978222e-01 3.27689309e-03 -5.72857656e-03 2.04812559e+02] [-3.27320343e-03 9.99994430e-01 6.53337030e-04 -1.60177740e+01] [ 5.73068557e-03 -6.34572005e-04 9.99983378e-01 -4.31833465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42241403699998 meters 0.09705634861311357 Centerline is valid? [True, True] Translation: X:204.87, Y:-16.03, Z:-4.32 [[ 9.99976615e-01 3.25083362e-03 -6.01684987e-03 2.04869817e+02] [-3.24676465e-03 9.99994494e-01 6.85905512e-04 -1.60307568e+01] [ 6.01904651e-03 -6.66354176e-04 9.99981663e-01 -4.32093235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48241403699998 meters 0.09876743802376851 Centerline is valid? [True, True] Translation: X:204.93, Y:-16.04, Z:-4.32 [[ 9.99974232e-01 2.54484664e-03 -6.71264648e-03 2.04928466e+02] [-2.53976098e-03 9.99996481e-01 7.66040105e-04 -1.60411888e+01] [ 6.71457231e-03 -7.48971848e-04 9.99977177e-01 -4.32327472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542414037 meters 0.09310556404627998 Centerline is valid? [True, True] Translation: X:204.99, Y:-16.04, Z:-4.32 [[ 9.99967797e-01 2.90880764e-03 -7.47951403e-03 2.04988261e+02] [-2.90251374e-03 9.99995425e-01 8.52201159e-04 -1.60387381e+01] [ 7.48195870e-03 -8.30464323e-04 9.99971665e-01 -4.32153200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602414037 meters 0.09519087113147412 Centerline is valid? [True, True] Translation: X:205.04, Y:-16.05, Z:-4.32 [[ 9.99968788e-01 3.50391340e-03 -7.08133811e-03 2.05044692e+02] [-3.49829447e-03 9.99993556e-01 8.05715731e-04 -1.60517412e+01] [ 7.08411564e-03 -7.80917977e-04 9.99974602e-01 -4.32364846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662414037 meters 0.09638582806212972 Centerline is valid? [True, True] Translation: X:205.10, Y:-16.06, Z:-4.33 [[ 9.99973402e-01 3.60749329e-03 -6.33890056e-03 2.05102464e+02] [-3.60299425e-03 9.99993249e-01 7.21027203e-04 -1.60604827e+01] [ 6.34145887e-03 -6.98169003e-04 9.99979649e-01 -4.32534411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722414037 meters 0.09479665839202014 Centerline is valid? [True, True] Translation: X:205.16, Y:-16.06, Z:-4.33 [[ 9.99970614e-01 4.41873048e-03 -6.26458723e-03 2.05161340e+02] [-4.41435500e-03 9.99990003e-01 7.12101475e-04 -1.60640766e+01] [ 6.26767119e-03 -6.84426437e-04 9.99980124e-01 -4.32604351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782414037 meters 0.09158872699250081 Centerline is valid? [True, True] Translation: X:205.22, Y:-16.07, Z:-4.33 [[ 9.99968655e-01 4.92629725e-03 -6.19837179e-03 2.05220530e+02] [-4.92202658e-03 9.99987639e-01 7.04063791e-04 -1.60655199e+01] [ 6.20176360e-03 -6.73533171e-04 9.99980542e-01 -4.32698767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842414037 meters 0.0950405583556531 Centerline is valid? [True, True] Translation: X:205.28, Y:-16.08, Z:-4.33 [[ 9.99963844e-01 5.40682978e-03 -6.56323765e-03 2.05277369e+02] [-5.40205753e-03 9.99985132e-01 7.44628895e-04 -1.60781650e+01] [ 6.56716615e-03 -7.09146985e-04 9.99978184e-01 -4.33050276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90241403699997 meters 0.09469415207811331 Centerline is valid? [True, True] Translation: X:205.34, Y:-16.08, Z:-4.33 [[ 9.99967655e-01 5.75946807e-03 -5.61397252e-03 2.05336046e+02] [-5.75598333e-03 9.99983232e-01 6.36684464e-04 -1.60829571e+01] [ 5.61754534e-03 -6.04349939e-04 9.99984039e-01 -4.33082214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96241403699997 meters 0.09198365925356469 Centerline is valid? [True, True] Translation: X:205.40, Y:-16.08, Z:-4.33 [[ 9.99964179e-01 6.57749717e-03 -5.32697910e-03 2.05395552e+02] [-6.57437097e-03 9.99978206e-01 6.04161868e-04 -1.60849301e+01] [ 5.33083687e-03 -5.69118690e-04 9.99985629e-01 -4.33101537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02241403699998 meters 0.09239534467456889 Centerline is valid? [True, True] Translation: X:205.45, Y:-16.09, Z:-4.33 [[ 9.99956147e-01 6.74600259e-03 -6.49574736e-03 2.05454342e+02] [-6.74136148e-03 9.99977006e-01 7.36116173e-04 -1.60919837e+01] [ 6.50056384e-03 -6.92293712e-04 9.99978631e-01 -4.33298844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08241403699998 meters 0.09399192339575345 Centerline is valid? [True, True] Translation: X:205.51, Y:-16.10, Z:-4.34 [[ 9.99947312e-01 7.32759545e-03 -7.18882115e-03 2.05511740e+02] [-7.32193200e-03 9.99972863e-01 8.13816186e-04 -1.60999923e+01] [ 7.19458939e-03 -7.61137248e-04 9.99973829e-01 -4.33572956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14241403699998 meters 0.08939584647697126 Centerline is valid? [True, True] Translation: X:205.57, Y:-16.10, Z:-4.33 [[ 9.99946230e-01 7.42671069e-03 -7.23751146e-03 2.05571104e+02] [-7.42097398e-03 9.99972129e-01 8.19169025e-04 -1.60966523e+01] [ 7.24339347e-03 -7.65415594e-04 9.99973473e-01 -4.33495810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20241403699998 meters 0.0960930386063464 Centerline is valid? [True, True] Translation: X:205.63, Y:-16.11, Z:-4.34 [[ 9.99953233e-01 6.96189823e-03 -6.71299879e-03 2.05626644e+02] [-6.95696392e-03 9.99975513e-01 7.58109541e-04 -1.61147085e+01] [ 6.71811229e-03 -7.11371996e-04 9.99977180e-01 -4.33880374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26241403699999 meters 0.09416197754704671 Centerline is valid? [True, True] Translation: X:205.69, Y:-16.12, Z:-4.34 [[ 9.99968433e-01 6.17846140e-03 -4.99603354e-03 2.05685899e+02] [-6.17571923e-03 9.99980771e-01 5.64110120e-04 -1.61163474e+01] [ 4.99942281e-03 -5.33238212e-04 9.99987361e-01 -4.33886950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322414037 meters 0.09588946639278116 Centerline is valid? [True, True] Translation: X:205.75, Y:-16.12, Z:-4.34 [[ 9.99976717e-01 4.36824002e-03 -5.24243917e-03 2.05745330e+02] [-4.36519026e-03 9.99990297e-01 5.93046187e-04 -1.61230253e+01] [ 5.24497887e-03 -5.70148135e-04 9.99986082e-01 -4.34174483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382414037 meters 0.09809193464805951 Centerline is valid? [True, True] Translation: X:205.80, Y:-16.13, Z:-4.34 [[ 9.99982901e-01 3.15512182e-03 -4.92370356e-03 2.05804280e+02] [-3.15241951e-03 9.99994876e-01 5.56502157e-04 -1.61320036e+01] [ 4.92543416e-03 -5.40971063e-04 9.99987724e-01 -4.34340653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442414037 meters 0.0988520342156008 Centerline is valid? [True, True] Translation: X:205.86, Y:-16.14, Z:-4.34 [[ 9.99984819e-01 2.10173826e-03 -5.09354657e-03 2.05863084e+02] [-2.09883610e-03 9.99997632e-01 5.75051046e-04 -1.61370816e+01] [ 5.09474312e-03 -5.64351797e-04 9.99986862e-01 -4.34425560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502414037 meters 0.0952397182349436 Centerline is valid? [True, True] Translation: X:205.92, Y:-16.13, Z:-4.34 [[ 9.99974862e-01 1.89099498e-03 -6.83376338e-03 2.05922521e+02] [-1.88576964e-03 9.99997925e-01 7.70999318e-04 -1.61346968e+01] [ 6.83520715e-03 -7.58093033e-04 9.99976352e-01 -4.34352364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562414037 meters 0.09658574454844006 Centerline is valid? [True, True] Translation: X:205.98, Y:-16.14, Z:-4.35 [[ 9.99974898e-01 1.86516498e-03 -6.83554357e-03 2.05981284e+02] [-1.85993943e-03 9.99997973e-01 7.70744377e-04 -1.61401257e+01] [ 6.83696728e-03 -7.58011332e-04 9.99976340e-01 -4.34589673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622414037 meters 0.09642022616223558 Centerline is valid? [True, True] Translation: X:206.04, Y:-16.14, Z:-4.35 [[ 9.99965781e-01 1.89113451e-03 -8.05363118e-03 2.06040079e+02] [-1.88388355e-03 9.99997813e-01 9.07825757e-04 -1.61436207e+01] [ 8.05533039e-03 -8.92622588e-04 9.99967157e-01 -4.34700793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68241403699997 meters 0.0966773861994669 Centerline is valid? [True, True] Translation: X:206.10, Y:-16.15, Z:-4.35 [[ 9.99962427e-01 1.76041867e-03 -8.48799154e-03 2.06098876e+02] [-1.75236401e-03 9.99998007e-01 9.56292104e-04 -1.61461829e+01] [ 8.48965810e-03 -9.41382122e-04 9.99963519e-01 -4.34861479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74241403699997 meters 0.09781061630204241 Centerline is valid? [True, True] Translation: X:206.16, Y:-16.15, Z:-4.35 [[ 9.99966435e-01 9.96309081e-04 -8.13247843e-03 2.06157702e+02] [-9.88895133e-04 9.99999092e-01 9.15617001e-04 -1.61525866e+01] [ 8.13338328e-03 -9.07544099e-04 9.99966512e-01 -4.34998337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80241403699998 meters 0.09964047208875448 Centerline is valid? [True, True] Translation: X:206.22, Y:-16.16, Z:-4.35 [[ 9.99978848e-01 -1.96807756e-03 -6.19913948e-03 2.06217721e+02] [ 1.97244870e-03 9.99997810e-01 6.99084641e-04 -1.61601102e+01] [ 6.19775006e-03 -7.11297339e-04 9.99980541e-01 -4.35015649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86241403699998 meters 0.09876994124450941 Centerline is valid? [True, True] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99975024e-01 -4.28061659e-03 -5.62376440e-03 2.06278622e+02] [ 4.28425259e-03 9.99990621e-01 6.34653354e-04 -1.61633937e+01] [ 5.62099494e-03 -6.58731130e-04 9.99983985e-01 -4.35047587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92241403699998 meters 0.10097160544308291 Centerline is valid? [True, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99973413e-01 -4.81936668e-03 -5.47234093e-03 2.06278386e+02] [ 4.81879185e-03 9.99988383e-01 -1.18222184e-04 -1.61610038e+01] [ 5.47284711e-03 9.18489693e-05 9.99985020e-01 -4.35055842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98241403699998 meters 0.09919555949588821 Centerline is valid? [False, True] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99973069e-01 -4.84521541e-03 -5.51234208e-03 2.06278967e+02] [ 4.84411520e-03 9.99988245e-01 -2.12924281e-04 -1.61598002e+01] [ 5.51330895e-03 1.86216126e-04 9.99984784e-01 -4.35131396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042414037 meters 0.10325122954846555 Centerline is valid? [True, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99972879e-01 -4.75425269e-03 -5.62479647e-03 2.06279668e+02] [ 4.75335555e-03 9.99988688e-01 -1.72855118e-04 -1.61591264e+01] [ 5.62555464e-03 1.46113773e-04 9.99984166e-01 -4.35201189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102414037 meters 0.10536340757386771 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99972397e-01 -4.97492349e-03 -5.51863839e-03 2.06279600e+02] [ 4.97232757e-03 9.99987521e-01 -4.84011623e-04 -1.61579113e+01] [ 5.52097745e-03 4.56557785e-04 9.99984655e-01 -4.35226690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162414037 meters 0.1042878770513988 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99972117e-01 -5.05623212e-03 -5.49541157e-03 2.06279737e+02] [ 5.05261829e-03 9.99987010e-01 -6.71292943e-04 -1.61569359e+01] [ 5.49873440e-03 6.43508008e-04 9.99984675e-01 -4.35250418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222414037 meters 0.1051933512573243 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99971251e-01 -5.03687524e-03 -5.66813130e-03 2.06280223e+02] [ 5.03242042e-03 9.99987017e-01 -7.99928762e-04 -1.61560038e+01] [ 5.67208686e-03 7.71381344e-04 9.99983616e-01 -4.35271831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282414037 meters 0.10404527524853602 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.15, Z:-4.35 [[ 9.99970007e-01 -4.96159716e-03 -5.94706104e-03 2.06280914e+02] [ 4.95593493e-03 9.99987252e-01 -9.66465402e-04 -1.61548778e+01] [ 5.95178044e-03 9.36963168e-04 9.99981849e-01 -4.35292166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342414037 meters 0.10499333793927873 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99972722e-01 -4.50439776e-03 -5.85361323e-03 2.06281315e+02] [ 4.50358615e-03 9.99989847e-01 -1.51825142e-04 -1.61565702e+01] [ 5.85423768e-03 1.25458749e-04 9.99982856e-01 -4.35381718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40241403699997 meters 0.10237210254388528 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99973556e-01 -4.39399922e-03 -5.79489340e-03 2.06281193e+02] [ 4.39487641e-03 9.99990333e-01 1.38647471e-04 -1.61575117e+01] [ 5.79422816e-03 -1.64111645e-04 9.99983200e-01 -4.35383716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46241403699997 meters 0.10105368584332049 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99975904e-01 -3.99081155e-03 -5.68027794e-03 2.06281219e+02] [ 3.99640295e-03 9.99991541e-01 9.73342495e-04 -1.61596575e+01] [ 5.67634546e-03 -9.96019721e-04 9.99983393e-01 -4.35419681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52241403699998 meters 0.10162935468440365 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99977711e-01 -3.50367268e-03 -5.68340764e-03 2.06281647e+02] [ 3.51379305e-03 9.99992257e-01 1.77168036e-03 -1.61613336e+01] [ 5.67715625e-03 -1.79161119e-03 9.99982280e-01 -4.35479865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58241403699998 meters 0.10164724827660679 Centerline is valid? [False, False] Translation: X:206.28, Y:-16.16, Z:-4.35 [[ 9.99979912e-01 -3.47424331e-03 -5.30139299e-03 2.06280227e+02] [ 3.48658432e-03 9.99991230e-01 2.32041768e-03 -1.61643621e+01] [ 5.29328480e-03 -2.33885482e-03 9.99983255e-01 -4.35380865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64241403699998 meters 0.09968294121856273 Centerline is valid? [False, True] Translation: X:206.28, Y:-16.17, Z:-4.35 [[ 9.99980956e-01 -3.01519676e-03 -5.38481741e-03 2.06280523e+02] [ 3.03173224e-03 9.99990706e-01 3.06524009e-03 -1.61661095e+01] [ 5.37552507e-03 -3.08150704e-03 9.99980804e-01 -4.35399040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70241403699998 meters 0.09955122576970338 Centerline is valid? [True, True] Translation: X:206.34, Y:-16.18, Z:-4.35 [[ 9.99978602e-01 -1.87930596e-03 -6.26607651e-03 2.06339492e+02] [ 1.88399797e-03 9.99997949e-01 7.42976688e-04 -1.61750118e+01] [ 6.26466738e-03 -7.54766065e-04 9.99980092e-01 -4.35465273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76241403699999 meters 0.10197331930058741 Centerline is valid? [True, False] Translation: X:206.34, Y:-16.18, Z:-4.36 [[ 9.99977981e-01 -8.38758353e-04 -6.58281615e-03 2.06341043e+02] [ 8.53340513e-04 9.99997188e-01 2.21268972e-03 -1.61779006e+01] [ 6.58094173e-03 -2.21825839e-03 9.99975885e-01 -4.35600244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822414037 meters 0.10246171906102741 Centerline is valid? [False, False] Translation: X:206.34, Y:-16.18, Z:-4.36 [[ 9.99977310e-01 -7.86162885e-04 -6.69042749e-03 2.06341111e+02] [ 8.01227611e-04 9.99997149e-01 2.24930124e-03 -1.61782027e+01] [ 6.68864010e-03 -2.25461076e-03 9.99975089e-01 -4.35579219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882414037 meters 0.09986398102121219 Centerline is valid? [False, True] Translation: X:206.34, Y:-16.18, Z:-4.36 [[ 9.99975567e-01 -4.32090050e-04 -6.97695044e-03 2.06341640e+02] [ 4.50210421e-04 9.99996530e-01 2.59581473e-03 -1.61791635e+01] [ 6.97580460e-03 -2.59889240e-03 9.99972292e-01 -4.35574070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942414037 meters 0.09884096204651126 Centerline is valid? [True, True] Translation: X:206.40, Y:-16.18, Z:-4.36 [[ 9.99976992e-01 3.06583795e-03 -6.05107029e-03 2.06401729e+02] [-3.06174722e-03 9.99995078e-01 6.85182349e-04 -1.61847050e+01] [ 6.05314116e-03 -6.66639737e-04 9.99981457e-01 -4.35525497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002414037 meters 0.09435508890992876 Centerline is valid? [True, True] Translation: X:206.46, Y:-16.18, Z:-4.35 [[ 9.99970052e-01 5.17524696e-03 -5.75433511e-03 2.06462126e+02] [-5.17158452e-03 9.99986415e-01 6.51163526e-04 -1.61833101e+01] [ 5.75762687e-03 -6.21384995e-04 9.99983232e-01 -4.35461729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062414037 meters 0.09544506320526007 Centerline is valid? [True, True] Translation: X:206.52, Y:-16.19, Z:-4.36 [[ 9.99949479e-01 6.79132560e-03 -7.41067016e-03 2.06520609e+02] [-6.78529780e-03 9.99976628e-01 8.38233901e-04 -1.61927275e+01] [ 7.41618967e-03 -7.87907949e-04 9.99972189e-01 -4.35690359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122414037 meters 0.09890447968683824 Centerline is valid? [True, True] Translation: X:206.58, Y:-16.21, Z:-4.36 [[ 9.99936180e-01 6.55359111e-03 -9.20252358e-03 2.06576944e+02] [-6.54430043e-03 9.99978046e-01 1.03932996e-03 -1.62071004e+01] [ 9.20913289e-03 -9.79039548e-04 9.99957116e-01 -4.36154622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18241403699997 meters 0.09600207193217569 Centerline is valid? [True, True] Translation: X:206.64, Y:-16.21, Z:-4.36 [[ 9.99946236e-01 4.25457184e-03 -9.45636595e-03 2.06637058e+02] [-4.24464649e-03 9.99990420e-01 1.06941772e-03 -1.62114303e+01] [ 9.46082527e-03 -1.02922130e-03 9.99954716e-01 -4.36191460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24241403699997 meters 0.09544942724083988 Centerline is valid? [True, True] Translation: X:206.70, Y:-16.22, Z:-4.36 [[ 9.99959403e-01 2.74138253e-03 -8.58349602e-03 2.06695745e+02] [-2.73316118e-03 9.99995795e-01 9.69393174e-04 -1.62184435e+01] [ 8.58611740e-03 -9.45893741e-04 9.99962691e-01 -4.36311887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30241403699998 meters 0.09907921302432567 Centerline is valid? [True, True] Translation: X:206.75, Y:-16.23, Z:-4.36 [[ 9.99969326e-01 5.31635583e-04 -7.81431820e-03 2.06753757e+02] [-5.24751784e-04 9.99999473e-01 8.82945258e-04 -1.62339802e+01] [ 7.81478349e-03 -8.78817597e-04 9.99969078e-01 -4.36407506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36241403699998 meters 0.09892297407177945 Centerline is valid? [True, True] Translation: X:206.81, Y:-16.24, Z:-4.36 [[ 9.99981853e-01 -6.56112866e-04 -5.98865587e-03 2.06812090e+02] [ 6.60168205e-04 9.99999554e-01 6.75218446e-04 -1.62424059e+01] [ 5.98821018e-03 -6.79159712e-04 9.99981840e-01 -4.36441820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42241403699998 meters 0.10027321281977272 Centerline is valid? [True, False] Translation: X:206.81, Y:-16.24, Z:-4.36 [[ 9.99985102e-01 -9.63206208e-04 -5.37286694e-03 2.06810426e+02] [ 9.67995851e-04 9.99999136e-01 8.88920915e-04 -1.62444473e+01] [ 5.37200609e-03 -8.94108585e-04 9.99985171e-01 -4.36372532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48241403699998 meters 0.10619802929964238 Centerline is valid? [False, False] Translation: X:206.81, Y:-16.25, Z:-4.36 [[ 9.99985889e-01 -2.96677406e-04 -5.30405156e-03 2.06811077e+02] [ 3.07822115e-04 9.99997747e-01 2.10047604e-03 -1.62468417e+01] [ 5.30341644e-03 -2.10207911e-03 9.99983727e-01 -4.36492602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542414037 meters 0.10333023111401278 Centerline is valid? [False, False] Translation: X:206.81, Y:-16.25, Z:-4.36 [[ 9.99986745e-01 -1.89636917e-04 -5.14534502e-03 2.06810773e+02] [ 2.02231963e-04 9.99996985e-01 2.44744282e-03 -1.62482521e+01] [ 5.14486538e-03 -2.44845093e-03 9.99983768e-01 -4.36495607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602414037 meters 0.10253744266411177 Centerline is valid? [False, False] Translation: X:206.81, Y:-16.25, Z:-4.37 [[ 9.99986691e-01 1.44588749e-04 -5.15719528e-03 2.06811024e+02] [-1.29259638e-04 9.99995574e-01 2.97258295e-03 -1.62494162e+01] [ 5.15760225e-03 -2.97187677e-03 9.99982283e-01 -4.36525417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662414037 meters 0.09609724252052673 Centerline is valid? [False, True] Translation: X:206.81, Y:-16.25, Z:-4.36 [[ 9.99986410e-01 2.02973735e-04 -5.20949617e-03 2.06810665e+02] [-1.86756183e-04 9.99995136e-01 3.11337256e-03 -1.62504748e+01] [ 5.21010277e-03 -3.11235735e-03 9.99981584e-01 -4.36459155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722414037 meters 0.100947719048772 Centerline is valid? [True, False] Translation: X:206.81, Y:-16.25, Z:-4.36 [[ 9.99986394e-01 4.13242910e-04 -5.20001716e-03 2.06810627e+02] [-3.94923227e-04 9.99993714e-01 3.52353825e-03 -1.62517500e+01] [ 5.20144055e-03 -3.52143670e-03 9.99980272e-01 -4.36456332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782414037 meters 0.09907094065582862 Centerline is valid? [False, True] Translation: X:206.81, Y:-16.25, Z:-4.36 [[ 9.99985695e-01 6.02997116e-04 -5.31474194e-03 2.06810649e+02] [-5.82572425e-04 9.99992443e-01 3.84373663e-03 -1.62530802e+01] [ 5.31701954e-03 -3.84058542e-03 9.99978489e-01 -4.36427291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842414037 meters 0.09727581258509532 Centerline is valid? [True, True] Translation: X:206.87, Y:-16.26, Z:-4.36 [[ 9.99979276e-01 1.79964578e-03 -6.18137636e-03 2.06870459e+02] [-1.79529362e-03 9.99998137e-01 7.09552578e-04 -1.62566802e+01] [ 6.18264179e-03 -6.98440487e-04 9.99980643e-01 -4.36496745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90241403699997 meters 0.10120251598802216 Centerline is valid? [True, False] Translation: X:206.87, Y:-16.26, Z:-4.36 [[ 9.99980819e-01 1.77190176e-03 -5.93475668e-03 2.06869706e+02] [-1.76630223e-03 9.99997990e-01 9.48624208e-04 -1.62581782e+01] [ 5.93642562e-03 -9.38123439e-04 9.99981939e-01 -4.36457578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96241403699997 meters 0.09808382835683187 Centerline is valid? [False, True] Translation: X:206.87, Y:-16.26, Z:-4.36 [[ 9.99981758e-01 1.69640429e-03 -5.79704221e-03 2.06869308e+02] [-1.69085183e-03 9.99998107e-01 9.62575759e-04 -1.62586690e+01] [ 5.79866416e-03 -9.52756261e-04 9.99982734e-01 -4.36436594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02241403699998 meters 0.10146673787242483 Centerline is valid? [True, False] Translation: X:206.87, Y:-16.26, Z:-4.36 [[ 9.99981683e-01 1.72151818e-03 -5.80257744e-03 2.06869633e+02] [-1.71595769e-03 9.99998064e-01 9.63121663e-04 -1.62582329e+01] [ 5.80422424e-03 -9.53147044e-04 9.99982701e-01 -4.36477880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08241403699998 meters 0.10261180688465289 Centerline is valid? [False, False] Translation: X:206.87, Y:-16.26, Z:-4.37 [[ 9.99981399e-01 1.71470921e-03 -5.85330817e-03 2.06869975e+02] [-1.70963584e-03 9.99998159e-01 8.71647288e-04 -1.62575383e+01] [ 5.85479201e-03 -8.61624049e-04 9.99982489e-01 -4.36510694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14241403699998 meters 0.09866048046965153 Centerline is valid? [False, True] Translation: X:206.87, Y:-16.26, Z:-4.37 [[ 9.99981507e-01 1.53487647e-03 -5.88472492e-03 2.06870101e+02] [-1.53186953e-03 9.99998694e-01 5.15448029e-04 -1.62563044e+01] [ 5.88550838e-03 -5.06423866e-04 9.99982552e-01 -4.36515397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20241403699998 meters 0.09781941908945922 Centerline is valid? [True, True] Translation: X:206.93, Y:-16.26, Z:-4.37 [[ 9.99978058e-01 1.45236632e-03 -6.46328551e-03 2.06928275e+02] [-1.44753900e-03 9.99998670e-01 7.51498448e-04 -1.62618306e+01] [ 6.46436837e-03 -7.42126101e-04 9.99978830e-01 -4.36705195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26241403699999 meters 0.09910139418550493 Centerline is valid? [True, True] Translation: X:206.99, Y:-16.27, Z:-4.37 [[ 9.99974131e-01 1.45478352e-03 -7.04417687e-03 2.06986837e+02] [-1.44905189e-03 9.99998615e-01 8.18705061e-04 -1.62710822e+01] [ 7.04535815e-03 -8.08476504e-04 9.99974854e-01 -4.36959556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322414037 meters 0.0984311356653534 Centerline is valid? [True, True] Translation: X:207.05, Y:-16.28, Z:-4.37 [[ 9.99969804e-01 9.37614589e-04 -7.71446281e-03 2.07045767e+02] [-9.30728236e-04 9.99999165e-01 8.96196573e-04 -1.62762182e+01] [ 7.71529666e-03 -8.88989443e-04 9.99969841e-01 -4.37114047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382414037 meters 0.10150692860884719 Centerline is valid? [True, False] Translation: X:207.05, Y:-16.28, Z:-4.37 [[ 9.99961449e-01 -2.50535255e-03 -8.41572154e-03 2.07047873e+02] [ 2.48327797e-03 9.99993452e-01 -2.63244308e-03 -1.62763675e+01] [ 8.42226163e-03 2.61144302e-03 9.99961122e-01 -4.37219053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442414037 meters 0.1003669745480771 Centerline is valid? [False, False] Translation: X:207.05, Y:-16.28, Z:-4.37 [[ 9.99961517e-01 -2.49825668e-03 -8.40974454e-03 2.07047878e+02] [ 2.47636445e-03 9.99993521e-01 -2.61260533e-03 -1.62764744e+01] [ 8.41621701e-03 2.59167919e-03 9.99961224e-01 -4.37220202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502414037 meters 0.09867077820484145 Centerline is valid? [False, True] Translation: X:207.05, Y:-16.28, Z:-4.37 [[ 9.99961375e-01 -2.46163005e-03 -8.43734828e-03 2.07048140e+02] [ 2.44003815e-03 9.99993725e-01 -2.56842469e-03 -1.62760529e+01] [ 8.44361784e-03 2.54773804e-03 9.99961106e-01 -4.37249380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562414037 meters 0.10775981336071991 Centerline is valid? [True, False] Translation: X:207.05, Y:-16.27, Z:-4.37 [[ 9.99958682e-01 -2.65070735e-03 -8.69527750e-03 2.07048689e+02] [ 2.62364472e-03 9.99991684e-01 -3.12226829e-03 -1.62740340e+01] [ 8.70348141e-03 3.09932597e-03 9.99957321e-01 -4.37249418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622414037 meters 0.09976039173364774 Centerline is valid? [False, True] Translation: X:207.05, Y:-16.27, Z:-4.37 [[ 9.99954253e-01 -2.50423975e-03 -9.23155300e-03 2.07050278e+02] [ 2.47247403e-03 9.99990989e-01 -3.45080259e-03 -1.62719464e+01] [ 9.24011146e-03 3.42781995e-03 9.99951434e-01 -4.37324776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68241403699997 meters 0.09791914227245346 Centerline is valid? [True, True] Translation: X:207.11, Y:-16.27, Z:-4.38 [[ 9.99937285e-01 2.21661633e-03 -1.09778625e-02 2.07111447e+02] [-2.20300738e-03 9.99996790e-01 1.25160934e-03 -1.62717623e+01] [ 1.09806016e-02 -1.22734654e-03 9.99938958e-01 -4.37790733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74241403699997 meters 0.09520053386811671 Centerline is valid? [True, True] Translation: X:207.17, Y:-16.27, Z:-4.38 [[ 9.99944714e-01 3.81782782e-03 -9.79757753e-03 2.07171642e+02] [-3.80706901e-03 9.99992130e-01 1.11652486e-03 -1.62709464e+01] [ 9.80176312e-03 -1.07916307e-03 9.99951379e-01 -4.37814202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80241403699998 meters 0.09689050158344306 Centerline is valid? [True, True] Translation: X:207.23, Y:-16.28, Z:-4.38 [[ 9.99962892e-01 4.72510787e-03 -7.20326358e-03 2.07229920e+02] [-4.71932416e-03 9.99988528e-01 8.19715499e-04 -1.62781535e+01] [ 7.20705419e-03 -7.85690545e-04 9.99973720e-01 -4.37816239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86241403699998 meters 0.09934640329462721 Centerline is valid? [True, True] Translation: X:207.29, Y:-16.29, Z:-4.38 [[ 9.99969484e-01 3.77420263e-03 -6.84007388e-03 2.07287159e+02] [-3.76897133e-03 9.99992595e-01 7.77531246e-04 -1.62883549e+01] [ 6.84295779e-03 -7.51727476e-04 9.99976304e-01 -4.37961430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92241403699998 meters 0.0989663403325462 Centerline is valid? [True, True] Translation: X:207.35, Y:-16.29, Z:-4.38 [[ 9.99967103e-01 3.02576736e-03 -7.52574016e-03 2.07346893e+02] [-3.01940946e-03 9.99995075e-01 8.56039484e-04 -1.62934117e+01] [ 7.52829328e-03 -8.33288032e-04 9.99971315e-01 -4.38041327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98241403699998 meters 0.09871810677644094 Centerline is valid? [True, True] Translation: X:207.41, Y:-16.30, Z:-4.38 [[ 9.99956125e-01 1.97093664e-03 -9.15772406e-03 2.07406558e+02] [-1.96147544e-03 9.99997533e-01 1.04200555e-03 -1.62977361e+01] [ 9.15975520e-03 -1.02399718e-03 9.99957524e-01 -4.38364401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042414037 meters 0.09955885244780664 Centerline is valid? [True, True] Translation: X:207.46, Y:-16.30, Z:-4.39 [[ 9.99943420e-01 1.71456294e-03 -1.04984473e-02 2.07464895e+02] [-1.70213243e-03 9.99997840e-01 1.19285363e-03 -1.63035428e+01] [ 1.05004698e-02 -1.17491640e-03 9.99944178e-01 -4.38595812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102414037 meters 0.09810244481261467 Centerline is valid? [True, True] Translation: X:207.52, Y:-16.31, Z:-4.39 [[ 9.99942447e-01 2.94418261e-03 -1.03167462e-02 2.07524684e+02] [-2.93224019e-03 9.99995014e-01 1.17251051e-03 -1.63063551e+01] [ 1.03201468e-02 -1.14219185e-03 9.99946094e-01 -4.38669157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162414037 meters 0.09845653086013793 Centerline is valid? [True, True] Translation: X:207.59, Y:-16.31, Z:-4.39 [[ 9.99934176e-01 5.66642604e-03 -9.97676329e-03 2.07585008e+02] [-5.65538585e-03 9.99983365e-01 1.13445570e-03 -1.63089115e+01] [ 9.98302563e-03 -1.07795858e-03 9.99949587e-01 -4.38796530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222414037 meters 0.0938450380408499 Centerline is valid? [True, True] Translation: X:207.65, Y:-16.30, Z:-4.39 [[ 9.99918561e-01 8.89529308e-03 -9.15119110e-03 2.07646192e+02] [-8.88614514e-03 9.99959977e-01 1.03982130e-03 -1.63030356e+01] [ 9.16007436e-03 -9.58417811e-04 9.99957586e-01 -4.38686761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282414037 meters 0.09457784301148507 Centerline is valid? [True, True] Translation: X:207.71, Y:-16.31, Z:-4.39 [[ 9.99906202e-01 1.09068276e-02 -8.28423576e-03 2.07705918e+02] [-1.08993961e-02 9.99940156e-01 9.41682963e-04 -1.63094202e+01] [ 8.29401078e-03 -8.51301468e-04 9.99965242e-01 -4.38848760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342414037 meters 0.09505934456486237 Centerline is valid? [True, True] Translation: X:207.77, Y:-16.31, Z:-4.39 [[ 9.99884014e-01 1.22155127e-02 -9.09616370e-03 2.07765364e+02] [-1.22066148e-02 9.99924963e-01 1.03308356e-03 -1.63137713e+01] [ 9.10810080e-03 -9.21930374e-04 9.99958095e-01 -4.39122724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40241403699997 meters 0.09295250279162513 Centerline is valid? [True, True] Translation: X:207.83, Y:-16.31, Z:-4.39 [[ 9.99881898e-01 1.10567617e-02 -1.06741361e-02 2.07825686e+02] [-1.10444405e-02 9.99938273e-01 1.21256128e-03 -1.63142083e+01] [ 1.06868842e-02 -1.09452822e-03 9.99942295e-01 -4.39266728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46241403699997 meters 0.09364866153000685 Centerline is valid? [True, True] Translation: X:207.88, Y:-16.32, Z:-4.39 [[ 9.99899666e-01 9.78865290e-03 -1.02391899e-02 2.07884966e+02] [-9.77725704e-03 9.99951526e-01 1.16243171e-03 -1.63211291e+01] [ 1.02500722e-02 -1.06220389e-03 9.99946902e-01 -4.39351118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52241403699998 meters 0.09333144322401613 Centerline is valid? [True, True] Translation: X:207.95, Y:-16.32, Z:-4.39 [[ 9.99933862e-01 7.64555722e-03 -8.59167851e-03 2.07945492e+02] [-7.63745041e-03 9.99970358e-01 9.75978956e-04 -1.63249245e+01] [ 8.59888574e-03 -9.10295888e-04 9.99962615e-01 -4.39376068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58241403699998 meters 0.09381330565084112 Centerline is valid? [True, True] Translation: X:208.01, Y:-16.33, Z:-4.39 [[ 9.99946156e-01 5.87980221e-03 -8.55063463e-03 2.08005668e+02] [-5.87170886e-03 9.99982290e-01 9.71316542e-04 -1.63308532e+01] [ 8.55619435e-03 -9.21057405e-04 9.99962971e-01 -4.39449000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64241403699998 meters 0.09917649011324625 Centerline is valid? [True, True] Translation: X:208.06, Y:-16.35, Z:-4.40 [[ 9.99957189e-01 3.65455262e-03 -8.50083037e-03 2.08063730e+02] [-3.64648128e-03 9.99992886e-01 9.64782075e-04 -1.63455450e+01] [ 8.50429574e-03 -9.33742653e-04 9.99963402e-01 -4.39710309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70241403699998 meters 0.09890851095565685 Centerline is valid? [True, True] Translation: X:208.12, Y:-16.35, Z:-4.40 [[ 9.99948122e-01 2.50515241e-03 -9.87307482e-03 2.08124275e+02] [-2.49420239e-03 9.99996261e-01 1.12123533e-03 -1.63505267e+01] [ 9.87584677e-03 -1.09655172e-03 9.99950631e-01 -4.39823112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76241403699999 meters 0.09791820653767068 Centerline is valid? [True, True] Translation: X:208.18, Y:-16.35, Z:-4.40 [[ 9.99934209e-01 2.54560545e-03 -1.11847037e-02 2.08183098e+02] [-2.53157930e-03 9.99995992e-01 1.26802653e-03 -1.63533483e+01] [ 1.11878868e-02 -1.23962814e-03 9.99936645e-01 -4.39934763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822414037 meters 0.09671131802866743 Centerline is valid? [True, True] Translation: X:208.24, Y:-16.35, Z:-4.40 [[ 9.99917170e-01 5.56058939e-03 -1.16074621e-02 2.08243878e+02] [-5.54566782e-03 9.99983755e-01 1.31730701e-03 -1.63544397e+01] [ 1.16145986e-02 -1.25282677e-03 9.99931763e-01 -4.39959108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882414037 meters 0.09688173423321834 Centerline is valid? [True, True] Translation: X:208.30, Y:-16.36, Z:-4.40 [[ 9.99895608e-01 8.06073735e-03 -1.19915524e-02 2.08304195e+02] [-8.04499015e-03 9.99966713e-01 1.36085088e-03 -1.63594238e+01] [ 1.20021227e-02 -1.26423690e-03 9.99927173e-01 -4.40211454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942414037 meters 0.09586845959619975 Centerline is valid? [True, True] Translation: X:208.36, Y:-16.36, Z:-4.40 [[ 9.99856889e-01 1.17506373e-02 -1.21706533e-02 2.08364055e+02] [-1.17346977e-02 9.99930193e-01 1.38026273e-03 -1.63603948e+01] [ 1.21860226e-02 -1.23724626e-03 9.99924982e-01 -4.40327286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002414037 meters 0.09820104528099154 Centerline is valid? [True, True] Translation: X:208.42, Y:-16.37, Z:-4.41 [[ 9.99849255e-01 1.31803895e-02 -1.13024414e-02 2.08422377e+02] [-1.31667390e-02 9.99912494e-01 1.28131578e-03 -1.63687157e+01] [ 1.13183406e-02 -1.13230634e-03 9.99935304e-01 -4.40586361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062414037 meters 0.1008628248156142 Centerline is valid? [True, False] Translation: X:208.43, Y:-16.37, Z:-4.41 [[ 9.99958245e-01 8.18976542e-03 -4.05415954e-03 2.08429495e+02] [-8.15778088e-03 9.99935959e-01 7.84396674e-03 -1.63690013e+01] [ 4.11814015e-03 -7.81056627e-03 9.99961017e-01 -4.40862779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122414037 meters 0.10183642317360715 Centerline is valid? [False, False] Translation: X:208.43, Y:-16.37, Z:-4.41 [[ 9.99986925e-01 3.15010633e-03 -4.02834183e-03 2.08428920e+02] [-3.14034655e-03 9.99992124e-01 2.42681380e-03 -1.63661852e+01] [ 4.03595482e-03 -2.41413168e-03 9.99988941e-01 -4.40789551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18241403699997 meters 0.09901864354494702 Centerline is valid? [False, True] Translation: X:208.43, Y:-16.37, Z:-4.41 [[ 9.99990909e-01 2.60290348e-03 -3.37731314e-03 2.08427717e+02] [-2.59547127e-03 9.99994205e-01 2.20314829e-03 -1.63663136e+01] [ 3.38302815e-03 -2.19436254e-03 9.99991870e-01 -4.40800071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24241403699997 meters 0.1095346973073465 Centerline is valid? [True, False] Translation: X:208.43, Y:-16.37, Z:-4.41 [[ 9.99992124e-01 -1.32904185e-03 -3.73967881e-03 2.08429156e+02] [ 1.32235896e-03 9.99997526e-01 -1.78892754e-03 -1.63656058e+01] [ 3.74204712e-03 1.78396825e-03 9.99991407e-01 -4.40903276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30241403699998 meters 0.10120493232233987 Centerline is valid? [False, False] Translation: X:208.43, Y:-16.36, Z:-4.41 [[ 9.99991939e-01 -1.25580915e-03 -3.81365713e-03 2.08429701e+02] [ 1.24914483e-03 9.99997690e-01 -1.74936758e-03 -1.63649021e+01] [ 3.81584519e-03 1.74458967e-03 9.99991198e-01 -4.40963498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36241403699998 meters 0.09985915920858662 Centerline is valid? [False, True] Translation: X:208.43, Y:-16.37, Z:-4.41 [[ 9.99992990e-01 2.25512899e-03 -2.98911558e-03 2.08427452e+02] [-2.24897608e-03 9.99995349e-01 2.06020473e-03 -1.63655241e+01] [ 2.99374771e-03 -2.05346784e-03 9.99993410e-01 -4.40873172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42241403699998 meters 0.10090935518490597 Centerline is valid? [True, False] Translation: X:208.43, Y:-16.36, Z:-4.41 [[ 9.99992350e-01 2.25445874e-03 -3.19650518e-03 2.08427809e+02] [-2.24857161e-03 9.99995772e-01 1.84413910e-03 -1.63647181e+01] [ 3.20064920e-03 -1.83693742e-03 9.99993191e-01 -4.40860052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48241403699998 meters 0.09930484513775943 Centerline is valid? [False, True] Translation: X:208.43, Y:-16.36, Z:-4.41 [[ 9.99991497e-01 2.15901991e-03 -3.51338736e-03 2.08428128e+02] [-2.15405641e-03 9.99996678e-01 1.41591273e-03 -1.63633476e+01] [ 3.51643267e-03 -1.40833266e-03 9.99992826e-01 -4.40809757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542414037 meters 0.09706575308289113 Centerline is valid? [True, True] Translation: X:208.49, Y:-16.37, Z:-4.41 [[ 9.99985956e-01 3.58230997e-03 -3.90566940e-03 2.08488388e+02] [-3.58060320e-03 9.99993491e-01 4.43903931e-04 -1.63661516e+01] [ 3.90723418e-03 -4.29913044e-04 9.99992274e-01 -4.40891758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602414037 meters 0.09645607962957022 Centerline is valid? [True, True] Translation: X:208.55, Y:-16.37, Z:-4.41 [[ 9.99975784e-01 4.42667182e-03 -5.36990475e-03 2.08547006e+02] [-4.42346052e-03 9.99990031e-01 6.09748105e-04 -1.63721692e+01] [ 5.37255037e-03 -5.85979777e-04 9.99985396e-01 -4.41222734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662414037 meters 0.09903194713340799 Centerline is valid? [True, True] Translation: X:208.60, Y:-16.38, Z:-4.42 [[ 9.99963932e-01 5.16822133e-03 -6.73972878e-03 2.08603898e+02] [-5.16318308e-03 9.99986378e-01 7.64731518e-04 -1.63829653e+01] [ 6.74358928e-03 -7.29905482e-04 9.99976995e-01 -4.41612208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722414037 meters 0.09947874223597092 Centerline is valid? [True, True] Translation: X:208.66, Y:-16.39, Z:-4.42 [[ 9.99961375e-01 6.22186286e-03 -6.20775742e-03 2.08663514e+02] [-6.21759874e-03 9.99980421e-01 7.05964062e-04 -1.63915170e+01] [ 6.21202829e-03 -6.67339449e-04 9.99980482e-01 -4.41811669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782414037 meters 0.09759548898566758 Centerline is valid? [True, True] Translation: X:208.72, Y:-16.40, Z:-4.42 [[ 9.99955657e-01 8.16914972e-03 -4.68488216e-03 2.08723921e+02] [-8.16674116e-03 9.99966510e-01 5.33014520e-04 -1.63960067e+01] [ 4.68907954e-03 -4.94730665e-04 9.99988884e-01 -4.41768152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842414037 meters 0.09800555875490866 Centerline is valid? [True, True] Translation: X:208.78, Y:-16.40, Z:-4.42 [[ 9.99938366e-01 1.03264967e-02 -4.07779557e-03 2.08783997e+02] [-1.03246902e-02 9.99946591e-01 4.63812314e-04 -1.64026372e+01] [ 4.08236734e-03 -4.21681752e-04 9.99991578e-01 -4.41825271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90241403699997 meters 0.0993713507561843 Centerline is valid? [True, True] Translation: X:208.84, Y:-16.41, Z:-4.42 [[ 9.99910223e-01 1.27334963e-02 -4.17184988e-03 2.08843158e+02] [-1.27316280e-02 9.99918837e-01 4.74081673e-04 -1.64112206e+01] [ 4.17754799e-03 -4.20924670e-04 9.99991185e-01 -4.41993414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96241403699997 meters 0.09958588663307219 Centerline is valid? [True, True] Translation: X:208.90, Y:-16.42, Z:-4.42 [[ 9.99876501e-01 1.47393328e-02 -5.45295494e-03 2.08902009e+02] [-1.47361723e-02 9.99891225e-01 6.19309967e-04 -1.64194710e+01] [ 5.46149001e-03 -5.38877799e-04 9.99984941e-01 -4.42352330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02241403699998 meters 0.08996954833475723 Centerline is valid? [True, True] Translation: X:208.96, Y:-16.41, Z:-4.42 [[ 9.99846582e-01 1.62301413e-02 -6.58743590e-03 2.08963031e+02] [-1.62255655e-02 9.99868077e-01 7.47467306e-04 -1.64089578e+01] [ 6.59869837e-03 -6.40467758e-04 9.99978023e-01 -4.42099306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08241403699998 meters 0.09081160145585729 Centerline is valid? [True, True] Translation: X:209.02, Y:-16.42, Z:-4.42 [[ 9.99813289e-01 1.79796602e-02 -7.07941382e-03 2.09021799e+02] [-1.79744165e-02 9.99838124e-01 8.03625841e-04 -1.64171663e+01] [ 7.09271676e-03 -6.76227463e-04 9.99974618e-01 -4.42302239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14241403699998 meters 0.08949805250235637 Centerline is valid? [True, True] Translation: X:209.08, Y:-16.42, Z:-4.42 [[ 9.99804825e-01 1.87619003e-02 -6.18893200e-03 2.09080548e+02] [-1.87579168e-02 9.99823809e-01 7.01063194e-04 -1.64213820e+01] [ 6.20099484e-03 -5.84834892e-04 9.99980603e-01 -4.42432835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20241403699998 meters 0.08931967029828898 Centerline is valid? [True, True] Translation: X:209.14, Y:-16.43, Z:-4.43 [[ 9.99793756e-01 1.97213435e-02 -4.84920192e-03 2.09139582e+02] [-1.97189074e-02 9.99805412e-01 5.49661716e-04 -1.64278924e+01] [ 4.85909839e-03 -4.53927387e-04 9.99988091e-01 -4.42592209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26241403699999 meters 0.09147800837947291 Centerline is valid? [True, True] Translation: X:209.20, Y:-16.44, Z:-4.43 [[ 9.99792510e-01 1.96263254e-02 -5.45374390e-03 2.09196109e+02] [-1.96232520e-02 9.99807255e-01 6.16490539e-04 -1.64382529e+01] [ 5.46479216e-03 -5.09342433e-04 9.99984938e-01 -4.43001753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322414037 meters 0.09096770738757379 Centerline is valid? [True, True] Translation: X:209.25, Y:-16.44, Z:-4.43 [[ 9.99807235e-01 1.89533738e-02 -5.12459831e-03 2.09254532e+02] [-1.89506516e-02 9.99820252e-01 5.79241838e-04 -1.64436408e+01] [ 5.13465576e-03 -4.82015704e-04 9.99986701e-01 -4.43114188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382414037 meters 0.09024731812857734 Centerline is valid? [True, True] Translation: X:209.31, Y:-16.45, Z:-4.43 [[ 9.99805321e-01 1.92329502e-02 -4.40599200e-03 2.09313478e+02] [-1.92309431e-02 9.99814945e-01 4.97447244e-04 -1.64467549e+01] [ 4.41474402e-03 -4.12619021e-04 9.99990170e-01 -4.43040984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442414037 meters 0.09097249110763674 Centerline is valid? [True, True] Translation: X:209.37, Y:-16.45, Z:-4.43 [[ 9.99827990e-01 1.81783871e-02 -3.67909996e-03 2.09371472e+02] [-1.81769886e-02 9.99834700e-01 4.13221696e-04 -1.64520147e+01] [ 3.68600350e-03 -3.46275660e-04 9.99993147e-01 -4.43142416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502414037 meters 0.09188856517535411 Centerline is valid? [True, True] Translation: X:209.43, Y:-16.46, Z:-4.43 [[ 9.99878119e-01 1.48830673e-02 -4.71598815e-03 2.09431382e+02] [-1.48807132e-02 9.99889134e-01 5.33878515e-04 -1.64595857e+01] [ 4.72341106e-03 -4.63636179e-04 9.99988737e-01 -4.43383778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562414037 meters 0.09507045105676767 Centerline is valid? [True, True] Translation: X:209.49, Y:-16.47, Z:-4.44 [[ 9.99925693e-01 1.16184243e-02 -3.69073060e-03 2.09491093e+02] [-1.16169606e-02 9.99932434e-01 4.17783870e-04 -1.64716184e+01] [ 3.69533522e-03 -3.74877754e-04 9.99993102e-01 -4.43745054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622414037 meters 0.09564571615386212 Centerline is valid? [True, True] Translation: X:209.55, Y:-16.48, Z:-4.44 [[ 9.99966145e-01 7.56161837e-03 -3.24516070e-03 2.09550600e+02] [-7.56046677e-03 9.99971352e-01 3.66987107e-04 -1.64782404e+01] [ 3.24784275e-03 -3.42439753e-04 9.99994667e-01 -4.43850248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68241403699997 meters 0.0997143284800498 Centerline is valid? [True, True] Translation: X:209.61, Y:-16.49, Z:-4.44 [[ 9.99984331e-01 5.17945879e-03 -2.12385192e-03 2.09608855e+02] [-5.17896083e-03 9.99986560e-01 2.39895343e-04 -1.64906899e+01] [ 2.12506590e-03 -2.28892238e-04 9.99997716e-01 -4.44120816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74241403699997 meters 0.10114669132829875 Centerline is valid? [True, False] Translation: X:209.61, Y:-16.49, Z:-4.44 [[ 9.99986137e-01 4.85102092e-03 -2.04780196e-03 2.09608531e+02] [-4.85150661e-03 9.99988204e-01 -2.32275660e-04 -1.64894993e+01] [ 2.04665103e-03 2.42207365e-04 9.99997876e-01 -4.44095054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80241403699998 meters 0.09906020927212197 Centerline is valid? [False, True] Translation: X:209.61, Y:-16.49, Z:-4.44 [[ 9.99986653e-01 4.74522103e-03 -2.04370238e-03 2.09609001e+02] [-4.74614312e-03 9.99988637e-01 -4.46575085e-04 -1.64879695e+01] [ 2.04156006e-03 4.56268828e-04 9.99997812e-01 -4.44167141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86241403699998 meters 0.09630888031108573 Centerline is valid? [True, True] Translation: X:209.67, Y:-16.49, Z:-4.44 [[ 9.99983326e-01 5.52664011e-03 -1.67470415e-03 2.09668054e+02] [-5.52633315e-03 9.99984712e-01 1.87859110e-04 -1.64876867e+01] [ 1.67571678e-03 -1.78601004e-04 9.99998580e-01 -4.44397121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92241403699998 meters 0.09615231820731174 Centerline is valid? [True, True] Translation: X:209.73, Y:-16.49, Z:-4.45 [[ 9.99976163e-01 6.86861018e-03 -7.04057461e-04 2.09728043e+02] [-6.86855604e-03 9.99976408e-01 7.92853055e-05 -1.64916457e+01] [ 7.04585431e-04 -7.44475575e-05 9.99999749e-01 -4.44548684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98241403699998 meters 0.09600726543758828 Centerline is valid? [True, True] Translation: X:209.79, Y:-16.49, Z:-4.45 [[ 9.99965908e-01 8.23459971e-03 6.11099085e-04 2.09788448e+02] [-8.23455832e-03 9.99966093e-01 -7.02156634e-05 -1.64943153e+01] [-6.11656562e-04 6.51811386e-05 9.99999811e-01 -4.44576529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042414037 meters 0.09636987921172092 Centerline is valid? [True, True] Translation: X:209.85, Y:-16.50, Z:-4.45 [[ 9.99963620e-01 8.39091793e-03 1.53327787e-03 2.09846775e+02] [-8.39065886e-03 9.99964782e-01 -1.75324402e-04 -1.64996380e+01] [-1.53469500e-03 1.62452812e-04 9.99998809e-01 -4.44742637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102414037 meters 0.09919443283812186 Centerline is valid? [True, True] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99971688e-01 6.69320234e-03 3.43874849e-03 2.09903904e+02] [-6.69189797e-03 9.99977533e-01 -3.90680485e-04 -1.65098963e+01] [-3.44128613e-03 3.67657670e-04 9.99994011e-01 -4.44957594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162414037 meters 0.10307790948560076 Centerline is valid? [True, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99973958e-01 6.05682392e-03 3.92414818e-03 2.09902588e+02] [-6.05327748e-03 9.99981260e-01 -9.14996655e-04 -1.65090185e+01] [-3.92961662e-03 8.91218869e-04 9.99991882e-01 -4.44912060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222414037 meters 0.1082263664432243 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99991372e-01 1.96819826e-03 3.65822083e-03 2.09903438e+02] [-1.94962508e-03 9.99985228e-01 -5.07375750e-03 -1.65083782e+01] [-3.66815295e-03 5.06658156e-03 9.99980437e-01 -4.44962524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282414037 meters 0.10920391178343818 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99990661e-01 2.22923424e-03 3.70248115e-03 2.09903755e+02] [-2.21225242e-03 9.99987045e-01 -4.58438512e-03 -1.65091686e+01] [-3.71265285e-03 4.57615148e-03 9.99982637e-01 -4.45026972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342414037 meters 0.10228931975435208 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99988927e-01 2.15476166e-03 4.18357618e-03 2.09903051e+02] [-2.13703342e-03 9.99988739e-01 -4.23743730e-03 -1.65101213e+01] [-4.19265974e-03 4.22844994e-03 9.99982271e-01 -4.45066882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40241403699997 meters 0.10365139387920971 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99988425e-01 2.25556031e-03 4.24998439e-03 2.09903048e+02] [-2.23883321e-03 9.99989746e-01 -3.93645924e-03 -1.65105669e+01] [-4.25881973e-03 3.92689866e-03 9.99983221e-01 -4.45093140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46241403699997 meters 0.10250468950481106 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99987809e-01 2.53093387e-03 4.23993098e-03 2.09903363e+02] [-2.51619992e-03 9.99990790e-01 -3.47678180e-03 -1.65112593e+01] [-4.24869144e-03 3.46607090e-03 9.99984967e-01 -4.45140757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52241403699998 meters 0.10559812820327094 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99987419e-01 2.74157204e-03 4.20058134e-03 2.09903655e+02] [-2.72841171e-03 9.99991362e-01 -3.13551241e-03 -1.65117679e+01] [-4.20914129e-03 3.12401205e-03 9.99986262e-01 -4.45173276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58241403699998 meters 0.1061086526668557 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.51, Z:-4.45 [[ 9.99986035e-01 2.68797424e-03 4.55033238e-03 2.09902560e+02] [-2.67507900e-03 9.99992396e-01 -2.83763096e-03 -1.65139413e+01] [-4.55792526e-03 2.82541884e-03 9.99985621e-01 -4.45112902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64241403699998 meters 0.10621326844623773 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.52, Z:-4.45 [[ 9.99983496e-01 2.60377009e-03 5.12130394e-03 2.09901009e+02] [-2.59220506e-03 9.99994078e-01 -2.26356290e-03 -1.65174327e+01] [-5.12716741e-03 2.25025007e-03 9.99984324e-01 -4.45048097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70241403699998 meters 0.10736797415939867 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.52, Z:-4.45 [[ 9.99982444e-01 3.15882079e-03 5.01339912e-03 2.09901466e+02] [-3.15194130e-03 9.99994081e-01 -1.37952914e-03 -1.65197165e+01] [-5.01772713e-03 1.36370298e-03 9.99986481e-01 -4.45082621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76241403699999 meters 0.11184647576941732 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.52, Z:-4.45 [[ 9.99981954e-01 3.50004264e-03 4.88272853e-03 2.09901580e+02] [-3.49600891e-03 9.99993541e-01 -8.34412202e-04 -1.65215785e+01] [-4.88561747e-03 8.17327082e-04 9.99987731e-01 -4.45058559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822414037 meters 0.10621855203128241 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.52, Z:-4.45 [[ 9.99981237e-01 3.80387911e-03 4.80178595e-03 2.09901618e+02] [-3.80218881e-03 9.99992706e-01 -3.61094678e-04 -1.65233052e+01] [-4.80312449e-03 3.42830605e-04 9.99988406e-01 -4.45038110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882414037 meters 0.1078191698853227 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.53, Z:-4.45 [[ 9.99990816e-01 3.04998434e-04 4.27481469e-03 2.09902368e+02] [-2.89269341e-04 9.99993188e-01 -3.67961481e-03 -1.65261564e+01] [-4.27590785e-03 3.67834445e-03 9.99984093e-01 -4.44992838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942414037 meters 0.10615847890672861 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.53, Z:-4.45 [[ 9.99989904e-01 8.58212247e-04 4.41091007e-03 2.09902068e+02] [-8.47071152e-04 9.99996448e-01 -2.52705188e-03 -1.65302982e+01] [-4.41306315e-03 2.52329001e-03 9.99987079e-01 -4.44992114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002414037 meters 0.1014084797497507 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.53, Z:-4.45 [[ 9.99990216e-01 1.42356480e-03 4.18820509e-03 2.09902831e+02] [-1.41626507e-03 9.99997474e-01 -1.74537642e-03 -1.65322053e+01] [-4.19067917e-03 1.73942773e-03 9.99989706e-01 -4.45040286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062414037 meters 0.10049589323623886 Centerline is valid? [False, False] Translation: X:209.90, Y:-16.53, Z:-4.45 [[ 9.99991079e-01 1.99704755e-03 3.72214585e-03 2.09903687e+02] [-1.99272241e-03 9.99997336e-01 -1.16534812e-03 -1.65339350e+01] [-3.72446319e-03 1.15792052e-03 9.99992394e-01 -4.45024275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122414037 meters 0.09845958813285748 Centerline is valid? [False, True] Translation: X:209.90, Y:-16.54, Z:-4.45 [[ 9.99991263e-01 2.50601251e-03 3.34585443e-03 2.09904122e+02] [-2.50400778e-03 9.99996683e-01 -6.03222919e-04 -1.65360927e+01] [-3.34735502e-03 5.94839603e-04 9.99994221e-01 -4.44972509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18241403699997 meters 0.09808599543499763 Centerline is valid? [True, True] Translation: X:209.96, Y:-16.54, Z:-4.45 [[ 9.99986284e-01 4.35092533e-03 2.91553930e-03 2.09964375e+02] [-4.34996726e-03 9.99990483e-01 -3.34867348e-04 -1.65448749e+01] [-2.91696853e-03 3.22180255e-04 9.99995694e-01 -4.45169757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24241403699997 meters 0.09832300461189518 Centerline is valid? [True, True] Translation: X:210.02, Y:-16.56, Z:-4.45 [[ 9.99977645e-01 6.47222448e-03 1.67948294e-03 2.10023927e+02] [-6.47190805e-03 9.99979038e-01 -1.93780262e-04 -1.65557753e+01] [-1.68070192e-03 1.82906471e-04 9.99998571e-01 -4.45411873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30241403699998 meters 0.09454713161751205 Centerline is valid? [True, True] Translation: X:210.08, Y:-16.56, Z:-4.45 [[ 9.99968856e-01 7.80861874e-03 1.14587535e-03 2.10083871e+02] [-7.80847179e-03 9.99969505e-01 -1.32661436e-04 -1.65576297e+01] [-1.14687631e-03 1.23709769e-04 9.99999335e-01 -4.45482098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36241403699998 meters 0.09343408983318349 Centerline is valid? [True, True] Translation: X:210.14, Y:-16.56, Z:-4.46 [[ 9.99947632e-01 1.02036513e-02 7.86910269e-04 2.10143882e+02] [-1.02035831e-02 9.99947938e-01 -9.06741843e-05 -1.65645583e+01] [-7.87794508e-04 8.26401315e-05 9.99999686e-01 -4.45582566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42241403699998 meters 0.0904410919500827 Centerline is valid? [True, True] Translation: X:210.20, Y:-16.57, Z:-4.46 [[ 9.99941433e-01 1.07696923e-02 1.06986965e-03 2.10203039e+02] [-1.07695649e-02 9.99941999e-01 -1.24814049e-04 -1.65676828e+01] [-1.07115181e-03 1.13284708e-04 9.99999420e-01 -4.45502984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48241403699998 meters 0.09297681035619791 Centerline is valid? [True, True] Translation: X:210.26, Y:-16.58, Z:-4.46 [[ 9.99927372e-01 1.20304215e-02 -7.20949404e-04 2.10259751e+02] [-1.20303667e-02 9.99927629e-01 8.03914397e-05 -1.65816040e+01] [ 7.21864371e-04 -7.17123153e-05 9.99999737e-01 -4.45835310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542414037 meters 0.09352036557899178 Centerline is valid? [True, True] Translation: X:210.32, Y:-16.59, Z:-4.46 [[ 9.99924496e-01 1.20635057e-02 -2.33966160e-03 2.10317829e+02] [-1.20629146e-02 9.99927205e-01 2.66565011e-04 -1.65903346e+01] [ 2.34270699e-03 -2.38321747e-04 9.99997227e-01 -4.46013772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602414037 meters 0.09291649244489313 Centerline is valid? [True, True] Translation: X:210.38, Y:-16.60, Z:-4.46 [[ 9.99926784e-01 1.18030574e-02 -2.66737488e-03 2.10376515e+02] [-1.18022881e-02 9.99930304e-01 3.03966502e-04 -1.65963876e+01] [ 2.67077671e-03 -2.72463120e-04 9.99996396e-01 -4.46112112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662414037 meters 0.09630139172966433 Centerline is valid? [True, True] Translation: X:210.43, Y:-16.61, Z:-4.46 [[ 9.99942704e-01 1.05667238e-02 -1.71234626e-03 2.10433590e+02] [-1.05664054e-02 9.99944155e-01 1.94868870e-04 -1.66116318e+01] [ 1.71430976e-03 -1.76764360e-04 9.99998515e-01 -4.46458225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722414037 meters 0.0923587131135363 Centerline is valid? [True, True] Translation: X:210.49, Y:-16.61, Z:-4.46 [[ 9.99966564e-01 8.15955727e-03 -5.41700943e-04 2.10493722e+02] [-8.15952508e-03 9.99966709e-01 6.15981214e-05 -1.66133330e+01] [ 5.42185523e-04 -5.71760393e-05 9.99999851e-01 -4.46381944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782414037 meters 0.09111527648579841 Centerline is valid? [True, True] Translation: X:210.55, Y:-16.62, Z:-4.46 [[ 9.99964546e-01 8.03781028e-03 -2.50995512e-03 2.10552220e+02] [-8.03711868e-03 9.99967661e-01 2.85509223e-04 -1.66189461e+01] [ 2.51216882e-03 -2.65326294e-04 9.99996809e-01 -4.46493160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842414037 meters 0.09182292597896993 Centerline is valid? [True, True] Translation: X:210.61, Y:-16.63, Z:-4.47 [[ 9.99960427e-01 8.61167963e-03 -2.23216595e-03 2.10610211e+02] [-8.61113484e-03 9.99962891e-01 2.53559816e-04 -1.66281882e+01] [ 2.23426670e-03 -2.34328300e-04 9.99997477e-01 -4.46757205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90241403699997 meters 0.09410112738107973 Centerline is valid? [True, True] Translation: X:210.67, Y:-16.64, Z:-4.47 [[ 9.99957201e-01 8.53461133e-03 -3.57175276e-03 2.10666833e+02] [-8.53321457e-03 9.99963509e-01 4.06114977e-04 -1.66400565e+01] [ 3.57508846e-03 -3.75619062e-04 9.99993539e-01 -4.47036097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96241403699997 meters 0.09265605716488069 Centerline is valid? [True, True] Translation: X:210.73, Y:-16.65, Z:-4.47 [[ 9.99961158e-01 7.14613418e-03 -5.15902871e-03 2.10726753e+02] [-7.14318822e-03 9.99974314e-01 5.89231800e-04 -1.66465963e+01] [ 5.16310692e-03 -5.52357000e-04 9.99986519e-01 -4.47304865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02241403699998 meters 0.09389571993157583 Centerline is valid? [True, True] Translation: X:210.79, Y:-16.66, Z:-4.47 [[ 9.99973370e-01 5.94598413e-03 -4.23136828e-03 2.10785219e+02] [-5.94399654e-03 9.99982218e-01 4.82148721e-04 -1.66567689e+01] [ 4.23415989e-03 -4.56984643e-04 9.99990931e-01 -4.47482055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08241403699998 meters 0.09494135791100079 Centerline is valid? [True, True] Translation: X:210.84, Y:-16.66, Z:-4.48 [[ 9.99971309e-01 5.68395213e-03 -5.00740720e-03 2.10843752e+02] [-5.68116808e-03 9.99983700e-01 5.70034023e-04 -1.66644138e+01] [ 5.01056562e-03 -5.41569746e-04 9.99987300e-01 -4.47698683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14241403699998 meters 0.09607807769011997 Centerline is valid? [True, True] Translation: X:210.90, Y:-16.67, Z:-4.48 [[ 9.99972529e-01 5.12647050e-03 -5.35359358e-03 2.10902160e+02] [-5.12328150e-03 9.99986690e-01 6.09218007e-04 -1.66712161e+01] [ 5.35664546e-03 -5.81773305e-04 9.99985484e-01 -4.47958374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20241403699998 meters 0.09619981598511487 Centerline is valid? [True, True] Translation: X:210.96, Y:-16.68, Z:-4.48 [[ 9.99980788e-01 5.58613023e-03 -2.68676768e-03 2.10961930e+02] [-5.58532756e-03 9.99984355e-01 3.06160404e-04 -1.66768504e+01] [ 2.68843589e-03 -2.91148045e-04 9.99996344e-01 -4.48051258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26241403699999 meters 0.09559601915418908 Centerline is valid? [True, True] Translation: X:211.02, Y:-16.68, Z:-4.48 [[ 9.99986903e-01 5.02472514e-03 -9.72765002e-04 2.11020567e+02] [-5.02462135e-03 9.99987371e-01 1.09107248e-04 -1.66802723e+01] [ 9.73300951e-04 -1.04218043e-04 9.99999521e-01 -4.47997931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322414037 meters 0.09590062522885853 Centerline is valid? [True, True] Translation: X:211.08, Y:-16.69, Z:-4.48 [[ 9.99989918e-01 4.47708275e-03 -3.46608336e-04 2.11079267e+02] [-4.47706997e-03 9.99989977e-01 3.76638826e-05 -1.66857483e+01] [ 3.46773486e-04 -3.61117131e-05 9.99999939e-01 -4.48177386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382414037 meters 0.09611053138025245 Centerline is valid? [True, True] Translation: X:211.14, Y:-16.69, Z:-4.49 [[ 9.99988035e-01 4.75719308e-03 -1.13988179e-03 2.11137469e+02] [-4.75705022e-03 9.99988677e-01 1.28006704e-04 -1.66903756e+01] [ 1.14047783e-03 -1.22582697e-04 9.99999342e-01 -4.48594465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442414037 meters 0.09535345850859088 Centerline is valid? [True, True] Translation: X:211.20, Y:-16.69, Z:-4.49 [[ 9.99975052e-01 7.05881751e-03 2.61607300e-04 2.11197528e+02] [-7.05880994e-03 9.99975086e-01 -2.98769322e-05 -1.66929009e+01] [-2.61811678e-04 2.80295506e-05 9.99999965e-01 -4.48839584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502414037 meters 0.09438596788584544 Centerline is valid? [True, True] Translation: X:211.26, Y:-16.70, Z:-4.49 [[ 9.99966704e-01 7.81244855e-03 2.35711411e-03 2.11257899e+02] [-7.81183610e-03 9.99969451e-01 -2.68924064e-04 -1.66960954e+01] [-2.35914305e-03 2.50501721e-04 9.99997186e-01 -4.48878667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562414037 meters 0.09550235243340557 Centerline is valid? [True, True] Translation: X:211.32, Y:-16.70, Z:-4.49 [[ 9.99947967e-01 7.55094573e-03 6.85907047e-03 2.11317192e+02] [-7.54575803e-03 9.99971225e-01 -7.81890962e-04 -1.67026148e+01] [-6.86477711e-03 7.30093392e-04 9.99976171e-01 -4.48793291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622414037 meters 0.09775005735289743 Centerline is valid? [True, True] Translation: X:211.38, Y:-16.71, Z:-4.49 [[ 9.99963994e-01 5.04857605e-03 6.82076617e-03 2.11376887e+02] [-5.04339522e-03 9.99986980e-01 -7.76553513e-04 -1.67108918e+01] [-6.82459786e-03 7.42125733e-04 9.99976437e-01 -4.49066634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68241403699997 meters 0.09593624360094373 Centerline is valid? [True, True] Translation: X:211.44, Y:-16.71, Z:-4.49 [[ 9.99979773e-01 3.39668215e-03 5.37746518e-03 2.11438024e+02] [-3.39344004e-03 9.99994055e-01 -6.11917207e-04 -1.67132148e+01] [-5.37951170e-03 5.93656724e-04 9.99985354e-01 -4.49413273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74241403699997 meters 0.10022984234823766 Centerline is valid? [True, False] Translation: X:211.44, Y:-16.71, Z:-4.50 [[ 9.99980036e-01 3.39749035e-03 5.32779411e-03 2.11439056e+02] [-3.39373712e-03 9.99993987e-01 -7.13343666e-04 -1.67113832e+01] [-5.33018565e-03 6.95248291e-04 9.99985553e-01 -4.49555096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80241403699998 meters 0.09757265412411548 Centerline is valid? [False, True] Translation: X:211.44, Y:-16.71, Z:-4.50 [[ 9.99982525e-01 3.01281288e-03 5.08646346e-03 2.11439513e+02] [-3.00461521e-03 9.99994176e-01 -1.61853581e-03 -1.67082751e+01] [-5.09131019e-03 1.60322466e-03 9.99985754e-01 -4.49551512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86241403699998 meters 0.09992765170272813 Centerline is valid? [True, True] Translation: X:211.50, Y:-16.72, Z:-4.50 [[ 9.99974570e-01 3.48463419e-03 6.22227693e-03 2.11499567e+02] [-3.48030441e-03 9.99993694e-01 -7.06544021e-04 -1.67188083e+01] [-6.22469974e-03 6.84870635e-04 9.99980392e-01 -4.49727395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92241403699998 meters 0.1014431674028932 Centerline is valid? [True, False] Translation: X:211.50, Y:-16.72, Z:-4.50 [[ 9.99974566e-01 3.62694914e-03 6.14107319e-03 2.11500055e+02] [-3.62334969e-03 9.99993257e-01 -5.97151928e-04 -1.67185474e+01] [-6.14319763e-03 5.74885484e-04 9.99980965e-01 -4.49771902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98241403699998 meters 0.1001223265843034 Centerline is valid? [False, False] Translation: X:211.50, Y:-16.72, Z:-4.50 [[ 9.99975011e-01 3.49091540e-03 6.14747064e-03 2.11499997e+02] [-3.48608263e-03 9.99993606e-01 -7.96679363e-04 -1.67181676e+01] [-6.15021247e-03 7.75228864e-04 9.99980787e-01 -4.49765337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042414037 meters 0.10226356164241374 Centerline is valid? [False, False] Translation: X:211.50, Y:-16.72, Z:-4.50 [[ 9.99975222e-01 3.62844978e-03 6.03235690e-03 2.11500698e+02] [-3.62441343e-03 9.99993201e-01 -6.79913607e-04 -1.67176832e+01] [-6.03478291e-03 6.58033005e-04 9.99981574e-01 -4.49833411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102414037 meters 0.09931034046674594 Centerline is valid? [False, True] Translation: X:211.50, Y:-16.72, Z:-4.50 [[ 9.99975603e-01 3.74439666e-03 5.89684807e-03 2.11501236e+02] [-3.74073596e-03 9.99992804e-01 -6.31696014e-04 -1.67172582e+01] [-5.89917095e-03 6.09622051e-04 9.99982414e-01 -4.49871144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162414037 meters 0.1019077675841406 Centerline is valid? [True, False] Translation: X:211.50, Y:-16.72, Z:-4.50 [[ 9.99978031e-01 3.69679773e-03 5.50189065e-03 2.11502130e+02] [-3.69087433e-03 9.99992599e-01 -1.08637625e-03 -1.67154375e+01] [-5.50586604e-03 1.06604560e-03 9.99984274e-01 -4.49883251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222414037 meters 0.09963834090195044 Centerline is valid? [False, True] Translation: X:211.50, Y:-16.71, Z:-4.50 [[ 9.99980752e-01 3.75511314e-03 4.93902789e-03 2.11503452e+02] [-3.74736806e-03 9.99991736e-01 -1.57645998e-03 -1.67130508e+01] [-4.94490686e-03 1.55792128e-03 9.99986560e-01 -4.49912560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282414037 meters 0.0972160263292333 Centerline is valid? [True, True] Translation: X:211.57, Y:-16.71, Z:-4.50 [[ 9.99970370e-01 4.80165976e-03 6.01692958e-03 2.11565167e+02] [-4.79763931e-03 9.99988258e-01 -6.82445126e-04 -1.67147623e+01] [-6.02013580e-03 6.53557847e-04 9.99981665e-01 -4.49998336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342414037 meters 0.09586142052935609 Centerline is valid? [True, True] Translation: X:211.63, Y:-16.72, Z:-4.50 [[ 9.99965249e-01 4.88897959e-03 6.75264250e-03 2.11626669e+02] [-4.88391534e-03 9.99987780e-01 -7.66251453e-04 -1.67187218e+01] [-6.75630617e-03 7.33245491e-04 9.99976907e-01 -4.49966644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40241403699997 meters 0.09828301353341871 Centerline is valid? [True, True] Translation: X:211.69, Y:-16.73, Z:-4.50 [[ 9.99965567e-01 5.84376402e-03 5.89194374e-03 2.11686807e+02] [-5.83992439e-03 9.99982724e-01 -6.68668750e-04 -1.67283904e+01] [-5.89574950e-03 6.34237220e-04 9.99982419e-01 -4.50412680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46241403699997 meters 0.09798044660610027 Centerline is valid? [True, True] Translation: X:211.75, Y:-16.73, Z:-4.51 [[ 9.99977402e-01 5.36247439e-03 4.05452435e-03 2.11747903e+02] [-5.36065290e-03 9.99985526e-01 -4.59981291e-04 -1.67336527e+01] [-4.05693230e-03 4.38235999e-04 9.99991675e-01 -4.50723046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52241403699998 meters 0.097944725859205 Centerline is valid? [True, True] Translation: X:211.81, Y:-16.74, Z:-4.51 [[ 9.99977188e-01 5.53900952e-03 3.86566188e-03 2.11808286e+02] [-5.53735141e-03 9.99984572e-01 -4.39505022e-04 -1.67401653e+01] [-3.86803667e-03 4.18089468e-04 9.99992432e-01 -4.50859848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58241403699998 meters 0.09969551356131659 Centerline is valid? [True, True] Translation: X:211.87, Y:-16.75, Z:-4.51 [[ 9.99976737e-01 5.35275774e-03 4.22773219e-03 2.11867459e+02] [-5.35077105e-03 9.99985569e-01 -4.81090054e-04 -1.67507189e+01] [-4.23024634e-03 4.58457235e-04 9.99990947e-01 -4.51005695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64241403699998 meters 0.09660804386143272 Centerline is valid? [True, True] Translation: X:211.93, Y:-16.75, Z:-4.51 [[ 9.99981254e-01 4.66626183e-03 3.96461935e-03 2.11928401e+02] [-4.66451123e-03 9.99989020e-01 -4.50687726e-04 -1.67534754e+01] [-3.96667885e-03 4.32186265e-04 9.99992039e-01 -4.51100325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70241403699998 meters 0.09786249361021027 Centerline is valid? [True, True] Translation: X:211.99, Y:-16.76, Z:-4.51 [[ 9.99983975e-01 4.78640105e-03 3.02328831e-03 2.11987808e+02] [-4.78538495e-03 9.99988491e-01 -3.43232862e-04 -1.67634896e+01] [-3.02489637e-03 3.28759763e-04 9.99995371e-01 -4.51335444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76241403699999 meters 0.09707799907728469 Centerline is valid? [True, True] Translation: X:212.05, Y:-16.77, Z:-4.51 [[ 9.99979563e-01 5.74763280e-03 2.79973074e-03 2.12047703e+02] [-5.74676385e-03 9.99983437e-01 -3.18315078e-04 -1.67696116e+01] [-2.80151393e-03 3.02219181e-04 9.99996030e-01 -4.51498448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822414037 meters 0.09796916266326841 Centerline is valid? [True, True] Translation: X:212.11, Y:-16.78, Z:-4.52 [[ 9.99975309e-01 6.46188969e-03 2.76138397e-03 2.12106663e+02] [-6.46104460e-03 9.99979078e-01 -3.14850570e-04 -1.67791698e+01] [-2.76336073e-03 2.97001371e-04 9.99996138e-01 -4.51638206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882414037 meters 0.09831553462696543 Centerline is valid? [True, True] Translation: X:212.17, Y:-16.79, Z:-4.52 [[ 9.99979000e-01 5.85225792e-03 2.78393630e-03 2.12166067e+02] [-5.85139693e-03 9.99982830e-01 -3.17318240e-04 -1.67870405e+01] [-2.78574553e-03 3.01021660e-04 9.99996074e-01 -4.51880007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942414037 meters 0.09695117503726744 Centerline is valid? [True, True] Translation: X:212.23, Y:-16.79, Z:-4.52 [[ 9.99985049e-01 4.72939349e-03 2.74501566e-03 2.12225669e+02] [-4.72855240e-03 9.99988771e-01 -3.12813299e-04 -1.67919168e+01] [-2.74646426e-03 2.99828672e-04 9.99996184e-01 -4.51861802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002414037 meters 0.09803788626653123 Centerline is valid? [True, True] Translation: X:212.29, Y:-16.80, Z:-4.52 [[ 9.99998070e-01 1.61133943e-03 1.12386219e-03 2.12285683e+02] [-1.61119702e-03 9.99998694e-01 -1.27608450e-04 -1.68010912e+01] [-1.12406634e-03 1.25797441e-04 9.99999360e-01 -4.51983205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062414037 meters 0.09972089891988925 Centerline is valid? [True, True] Translation: X:212.34, Y:-16.81, Z:-4.52 [[ 9.99999846e-01 4.63702151e-04 -3.04121716e-04 2.12344604e+02] [-4.63691746e-04 9.99999892e-01 3.42800497e-05 -1.68112227e+01] [ 3.04137579e-04 -3.41390257e-05 9.99999953e-01 -4.52260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122414037 meters 0.09939638462323998 Centerline is valid? [True, True] Translation: X:212.40, Y:-16.82, Z:-4.52 [[ 9.99999045e-01 -1.25223358e-03 -5.84417248e-04 2.12404463e+02] [ 1.25227228e-03 9.99999214e-01 6.58637891e-05 -1.68177944e+01] [ 5.84334312e-04 -6.65955758e-05 9.99999827e-01 -4.52275911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18241403699997 meters 0.09818254522296974 Centerline is valid? [True, True] Translation: X:212.46, Y:-16.82, Z:-4.52 [[ 9.99999461e-01 -4.55087449e-04 9.33566736e-04 2.12464627e+02] [ 4.55186623e-04 9.99999891e-01 -1.06020892e-04 -1.68238796e+01] [-9.33518385e-04 1.06445782e-04 9.99999559e-01 -4.52176669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24241403699997 meters 0.099335533922903 Centerline is valid? [True, True] Translation: X:212.52, Y:-16.83, Z:-4.52 [[ 9.99998416e-01 -3.98410614e-04 1.73479164e-03 2.12524918e+02] [ 3.98751337e-04 9.99999901e-01 -1.96064082e-04 -1.68343827e+01] [-1.73471336e-03 1.96755522e-04 9.99998476e-01 -4.52329461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30241403699998 meters 0.10425347098671987 Centerline is valid? [True, False] Translation: X:212.52, Y:-16.84, Z:-4.52 [[ 9.99998173e-01 -2.24324754e-04 1.89838477e-03 2.12524387e+02] [ 2.23622356e-04 9.99999906e-01 3.70201612e-04 -1.68367036e+01] [-1.89846764e-03 -3.69776414e-04 9.99998130e-01 -4.52300806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36241403699998 meters 0.10209734472366809 Centerline is valid? [False, False] Translation: X:212.52, Y:-16.84, Z:-4.52 [[ 9.99997696e-01 1.27123690e-04 2.14295232e-03 2.12524001e+02] [-1.29795738e-04 9.99999214e-01 1.24680742e-03 -1.68396956e+01] [-2.14279214e-03 -1.24708270e-03 9.99996927e-01 -4.52319284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42241403699998 meters 0.09987018243944519 Centerline is valid? [False, True] Translation: X:212.52, Y:-16.84, Z:-4.52 [[ 9.99997362e-01 2.46310978e-04 2.28349098e-03 2.12523553e+02] [-2.50068109e-04 9.99998615e-01 1.64520595e-03 -1.68414197e+01] [-2.28308259e-03 -1.64577264e-03 9.99996039e-01 -4.52297241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48241403699998 meters 0.10039787445144843 Centerline is valid? [True, False] Translation: X:212.52, Y:-16.84, Z:-4.52 [[ 9.99997082e-01 4.32859969e-04 2.37661078e-03 2.12522960e+02] [-4.37814161e-04 9.99997732e-01 2.08443711e-03 -1.68436836e+01] [-2.37570312e-03 -2.08547154e-03 9.99995003e-01 -4.52232275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542414037 meters 0.10110546318585983 Centerline is valid? [False, False] Translation: X:212.52, Y:-16.85, Z:-4.52 [[ 9.99996873e-01 7.27132637e-04 2.39287616e-03 2.12522723e+02] [-7.33525357e-04 9.99996162e-01 2.67177072e-03 -1.68458951e+01] [-2.39092424e-03 -2.67351760e-03 9.99993568e-01 -4.52201832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602414037 meters 0.09882438335028235 Centerline is valid? [False, True] Translation: X:212.52, Y:-16.85, Z:-4.52 [[ 9.99996540e-01 8.56146100e-04 2.48735925e-03 2.12522326e+02] [-8.63733785e-04 9.99994973e-01 3.05102713e-03 -1.68474297e+01] [-2.48473462e-03 -3.05316498e-03 9.99992252e-01 -4.52172656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662414037 meters 0.10338277893669835 Centerline is valid? [True, False] Translation: X:212.52, Y:-16.85, Z:-4.52 [[ 9.99994973e-01 9.04581854e-04 3.03893737e-03 2.12520727e+02] [-9.16123809e-04 9.99992365e-01 3.79878065e-03 -1.68514217e+01] [-3.03547786e-03 -3.80154560e-03 9.99988167e-01 -4.52093307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722414037 meters 0.09978126443334327 Centerline is valid? [False, True] Translation: X:212.52, Y:-16.85, Z:-4.52 [[ 9.99992721e-01 -2.61261278e-03 2.78060147e-03 2.12521391e+02] [ 2.61074880e-03 9.99996365e-01 6.73770583e-04 -1.68546232e+01] [-2.78235166e-03 -6.66506226e-04 9.99995907e-01 -4.52111885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782414037 meters 0.09812363353224778 Centerline is valid? [True, True] Translation: X:212.58, Y:-16.86, Z:-4.52 [[ 9.99993721e-01 -3.41101670e-03 9.60603246e-04 2.12582544e+02] [ 3.41112459e-03 9.99994176e-01 -1.10702197e-04 -1.68612975e+01] [-9.60220044e-04 1.13978239e-04 9.99999532e-01 -4.52192440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842414037 meters 0.10272376953531707 Centerline is valid? [True, False] Translation: X:212.58, Y:-16.87, Z:-4.52 [[ 9.99996042e-01 -2.57370820e-03 1.13694060e-03 2.12582359e+02] [ 2.57183264e-03 9.99995335e-01 1.64804932e-03 -1.68663210e+01] [-1.14117689e-03 -1.64511877e-03 9.99997996e-01 -4.52218430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90241403699997 meters 0.09671698199395146 Centerline is valid? [False, True] Translation: X:212.58, Y:-16.87, Z:-4.52 [[ 9.99996768e-01 -2.15645562e-03 1.34708649e-03 2.12581792e+02] [ 2.15287733e-03 9.99994166e-01 2.65214755e-03 -1.68698443e+01] [-1.35279787e-03 -2.64923886e-03 9.99995576e-01 -4.52194671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96241403699997 meters 0.09892736995125864 Centerline is valid? [True, True] Translation: X:212.64, Y:-16.88, Z:-4.52 [[ 9.99996917e-01 -2.13533749e-03 1.26716397e-03 2.12641519e+02] [ 2.13552517e-03 9.99997709e-01 -1.46781899e-04 -1.68838838e+01] [-1.26684764e-03 1.49487507e-04 9.99999186e-01 -4.52305547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02241403699998 meters 0.0996881928721902 Centerline is valid? [True, True] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999050e-01 -1.26994333e-03 5.35537252e-04 2.12702194e+02] [ 1.26997676e-03 9.99999192e-01 -6.20836293e-05 -1.68965234e+01] [-5.35457977e-04 6.27636902e-05 9.99999855e-01 -4.52599600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08241403699998 meters 0.1015785039226752 Centerline is valid? [True, False] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999678e-01 -6.39706527e-04 4.83874378e-04 2.12702783e+02] [ 6.39243915e-04 9.99999339e-01 9.55609711e-04 -1.68988181e+01] [-4.84485368e-04 -9.55300090e-04 9.99999426e-01 -4.52674629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14241403699998 meters 0.10070724877757628 Centerline is valid? [False, False] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999807e-01 -3.94002808e-04 4.79793300e-04 2.12702629e+02] [ 3.93307099e-04 9.99998872e-01 1.44925002e-03 -1.69006736e+01] [-4.80363767e-04 -1.44906103e-03 9.99998835e-01 -4.52649599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20241403699998 meters 0.10015730841704594 Centerline is valid? [False, False] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999910e-01 -1.04441414e-04 4.11530862e-04 2.12702843e+02] [ 1.03661063e-04 9.99998198e-01 1.89578070e-03 -1.69016301e+01] [-4.11728118e-04 -1.89573787e-03 9.99998118e-01 -4.52662699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26241403699999 meters 0.09901448860415213 Centerline is valid? [False, True] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999871e-01 -1.27260636e-04 4.91677887e-04 2.12702289e+02] [ 1.26278177e-04 9.99997997e-01 1.99769058e-03 -1.69026648e+01] [-4.91931129e-04 -1.99762823e-03 9.99997884e-01 -4.52604834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322414037 meters 0.10438202072550319 Centerline is valid? [True, False] Translation: X:212.71, Y:-16.90, Z:-4.53 [[ 9.99999401e-01 -1.09117158e-03 8.41044115e-05 2.12705049e+02] [ 1.09108060e-03 9.99998828e-01 1.07436811e-03 -1.69031113e+01] [-8.52766328e-05 -1.07427570e-03 9.99999419e-01 -4.52856577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382414037 meters 0.097435079534776 Centerline is valid? [False, True] Translation: X:212.71, Y:-16.90, Z:-4.53 [[ 9.99999570e-01 -9.22436998e-04 9.46198776e-05 2.12705276e+02] [ 9.22307294e-04 9.99998647e-01 1.36179341e-03 -1.69037578e+01] [-9.58759182e-05 -1.36170556e-03 9.99999068e-01 -4.52890862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442414037 meters 0.10081963554962212 Centerline is valid? [True, False] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999526e-01 -9.55004112e-04 1.89351131e-04 2.12704898e+02] [ 9.54735382e-04 9.99998544e-01 1.41426300e-03 -1.69044127e+01] [-1.90701483e-04 -1.41408155e-03 9.99998982e-01 -4.52858602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502414037 meters 0.09808658244354786 Centerline is valid? [False, True] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999216e-01 -1.22230204e-03 2.73540303e-04 2.12704257e+02] [ 1.22200722e-03 9.99998675e-01 1.07538863e-03 -1.69042567e+01] [-2.74854390e-04 -1.07505352e-03 9.99999384e-01 -4.52785383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562414037 meters 0.10103236664950274 Centerline is valid? [True, False] Translation: X:212.70, Y:-16.90, Z:-4.53 [[ 9.99999546e-01 -9.38827065e-04 1.60327889e-04 2.12704586e+02] [ 9.38586102e-04 9.99998440e-01 1.49645604e-03 -1.69049697e+01] [-1.61732552e-04 -1.49630488e-03 9.99998867e-01 -4.52800162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622414037 meters 0.10466325026012557 Centerline is valid? [False, False] Translation: X:212.71, Y:-16.91, Z:-4.53 [[ 9.99999836e-01 -5.71463148e-04 -4.12664703e-05 2.12705396e+02] [ 5.71543793e-04 9.99997874e-01 1.98142616e-03 -1.69057426e+01] [ 4.01340705e-05 -1.98144942e-03 9.99998036e-01 -4.52861464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68241403699997 meters 0.10385463034171766 Centerline is valid? [False, False] Translation: X:212.71, Y:-16.91, Z:-4.53 [[ 9.99999981e-01 -1.39376291e-04 -1.37041093e-04 2.12706090e+02] [ 1.39734172e-04 9.99996571e-01 2.61495558e-03 -1.69068016e+01] [ 1.36676160e-04 -2.61497468e-03 9.99996572e-01 -4.52936481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74241403699997 meters 0.10310112766650083 Centerline is valid? [False, False] Translation: X:212.71, Y:-16.91, Z:-4.53 [[ 9.99999925e-01 -3.84448326e-04 5.19113320e-05 2.12705353e+02] [ 3.84323245e-04 9.99997074e-01 2.38838788e-03 -1.69069476e+01] [-5.28293918e-05 -2.38836775e-03 9.99997146e-01 -4.52879765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80241403699998 meters 0.0980933229498795 Centerline is valid? [False, True] Translation: X:212.71, Y:-16.91, Z:-4.53 [[ 9.99999869e-01 -4.98685806e-04 1.13315405e-04 2.12705097e+02] [ 4.98425579e-04 9.99997265e-01 2.28501881e-03 -1.69069279e+01] [-1.14454601e-04 -2.28496203e-03 9.99997383e-01 -4.52857863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86241403699998 meters 0.10268504452762679 Centerline is valid? [True, False] Translation: X:212.70, Y:-16.91, Z:-4.53 [[ 9.99999886e-01 -4.48579483e-04 1.61544290e-04 2.12704911e+02] [ 4.48182869e-04 9.99996906e-01 2.44687041e-03 -1.69077887e+01] [-1.62641406e-04 -2.44679773e-03 9.99996993e-01 -4.52843027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92241403699998 meters 0.10580744840175503 Centerline is valid? [False, False] Translation: X:212.70, Y:-16.91, Z:-4.53 [[ 9.99999827e-01 -5.44196081e-04 2.21849198e-04 2.12704276e+02] [ 5.43660023e-04 9.99996950e-01 2.40926041e-03 -1.69084448e+01] [-2.23159632e-04 -2.40913938e-03 9.99997073e-01 -4.52765910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98241403699998 meters 0.10312655340548328 Centerline is valid? [False, False] Translation: X:212.70, Y:-16.91, Z:-4.53 [[ 9.99999945e-01 -3.14180373e-04 1.01583030e-04 2.12704693e+02] [ 3.13906458e-04 9.99996345e-01 2.68532577e-03 -1.69088906e+01] [-1.02426335e-04 -2.68529374e-03 9.99996389e-01 -4.52789597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042414037 meters 0.10885525953793329 Centerline is valid? [False, False] Translation: X:212.71, Y:-16.91, Z:-4.53 [[ 9.99999986e-01 -7.77104881e-05 -1.44890346e-04 2.12705199e+02] [ 7.81301505e-05 9.99995796e-01 2.89866116e-03 -1.69093990e+01] [ 1.44664480e-04 -2.89867244e-03 9.99995788e-01 -4.52790539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102414037 meters 0.09894960590130317 Centerline is valid? [False, True] Translation: X:212.71, Y:-16.91, Z:-4.53 [[ 9.99999942e-01 -6.44608366e-05 -3.33226183e-04 2.12705606e+02] [ 6.53849980e-05 9.99996150e-01 2.77410912e-03 -1.69089892e+01] [ 3.33046079e-04 -2.77413075e-03 9.99996097e-01 -4.52796729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162414037 meters 0.09908103914629851 Centerline is valid? [True, True] Translation: X:212.77, Y:-16.91, Z:-4.53 [[ 9.99992167e-01 3.76277116e-03 -1.22763230e-03 2.12766425e+02] [-3.76258933e-03 9.99992910e-01 1.50391754e-04 -1.69142790e+01] [ 1.22818949e-03 -1.45771500e-04 9.99999235e-01 -4.53107974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222414037 meters 0.1007932936467429 Centerline is valid? [True, False] Translation: X:212.77, Y:-16.91, Z:-4.53 [[ 9.99992152e-01 3.70105073e-03 -1.41325260e-03 2.12766884e+02] [-3.70132375e-03 9.99993132e-01 -1.90616112e-04 -1.69130899e+01] [ 1.41253741e-03 1.95845521e-04 9.99998983e-01 -4.53118070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282414037 meters 0.09433907710591324 Centerline is valid? [False, True] Translation: X:212.77, Y:-16.91, Z:-4.53 [[ 9.99992853e-01 3.44263753e-03 -1.56302546e-03 2.12766923e+02] [-3.44394637e-03 9.99993721e-01 -8.35460574e-04 -1.69112544e+01] [ 1.56013946e-03 8.40837578e-04 9.99998429e-01 -4.53072613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342414037 meters 0.09939488021220086 Centerline is valid? [True, True] Translation: X:212.82, Y:-16.93, Z:-4.53 [[ 9.99991066e-01 4.22695507e-03 2.84909024e-05 2.12824105e+02] [-4.22695494e-03 9.99991066e-01 -4.70188873e-06 -1.69260844e+01] [-2.85105226e-05 4.58141696e-06 1.00000000e+00 -4.53374376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40241403699997 meters 0.09733154344262941 Centerline is valid? [True, True] Translation: X:212.88, Y:-16.93, Z:-4.53 [[ 9.99991485e-01 4.12661161e-03 4.57663762e-06 2.12884160e+02] [-4.12661161e-03 9.99991486e-01 -1.41386378e-06 -1.69293648e+01] [-4.58243312e-06 1.39496573e-06 1.00000000e+00 -4.53486376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46241403699997 meters 0.10020788042415787 Centerline is valid? [True, False] Translation: X:212.88, Y:-16.93, Z:-4.54 [[ 9.99991956e-01 4.00963092e-03 -1.05421756e-04 2.12884788e+02] [-4.00966688e-03 9.99991902e-01 -3.43092532e-04 -1.69278935e+01] [ 1.04045228e-04 3.43512479e-04 9.99999936e-01 -4.53548291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52241403699998 meters 0.09750732159305255 Centerline is valid? [False, True] Translation: X:212.89, Y:-16.93, Z:-4.54 [[ 9.99992305e-01 3.92079983e-03 -1.30693657e-04 2.12885162e+02] [-3.92087486e-03 9.99992146e-01 -5.78928473e-04 -1.69267789e+01] [ 1.28422768e-04 5.79436452e-04 9.99999824e-01 -4.53595415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58241403699998 meters 0.09883449701627627 Centerline is valid? [True, True] Translation: X:212.94, Y:-16.94, Z:-4.54 [[ 9.99995227e-01 3.08662424e-03 1.36374852e-04 2.12944499e+02] [-3.08662195e-03 9.99995236e-01 -1.69661766e-05 -1.69352814e+01] [-1.36426571e-04 1.65451580e-05 9.99999991e-01 -4.53881822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64241403699998 meters 0.09760379856129917 Centerline is valid? [True, True] Translation: X:213.01, Y:-16.94, Z:-4.54 [[ 9.99997618e-01 1.30690097e-03 1.74836795e-03 2.13005187e+02] [-1.30654246e-03 9.99999125e-01 -2.06182440e-04 -1.69391684e+01] [-1.74863588e-03 2.03897632e-04 9.99998450e-01 -4.53944177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70241403699998 meters 0.10062158124770862 Centerline is valid? [True, False] Translation: X:213.00, Y:-16.94, Z:-4.54 [[ 9.99997441e-01 1.20970395e-03 1.91186386e-03 2.13004862e+02] [-1.20925894e-03 9.99999241e-01 -2.33904141e-04 -1.69390244e+01] [-1.91214537e-03 2.31591604e-04 9.99998145e-01 -4.53942894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76241403699999 meters 0.10016289068672277 Centerline is valid? [False, False] Translation: X:213.00, Y:-16.94, Z:-4.54 [[ 9.99997592e-01 9.65154805e-04 1.97103799e-03 2.13004532e+02] [-9.64118521e-04 9.99999397e-01 -5.26638111e-04 -1.69384253e+01] [-1.97154508e-03 5.24736529e-04 9.99997919e-01 -4.53911975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822414037 meters 0.09664369407059471 Centerline is valid? [False, True] Translation: X:213.00, Y:-16.94, Z:-4.54 [[ 9.99997680e-01 9.36628459e-04 1.93957155e-03 2.13004565e+02] [-9.35570973e-04 9.99999413e-01 -5.46051981e-04 -1.69386044e+01] [-1.94008186e-03 5.44236108e-04 9.99997970e-01 -4.53910362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882414037 meters 0.09763790889489889 Centerline is valid? [True, True] Translation: X:213.06, Y:-16.95, Z:-4.54 [[ 9.99998006e-01 6.13596404e-04 1.90056705e-03 2.13064823e+02] [-6.13160889e-04 9.99999786e-01 -2.29724229e-04 -1.69482256e+01] [-1.90070760e-03 2.28558417e-04 9.99998168e-01 -4.54137937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942414037 meters 0.10157315631207145 Centerline is valid? [True, False] Translation: X:213.07, Y:-16.95, Z:-4.54 [[ 9.99997606e-01 1.03463880e-03 1.92814328e-03 2.13065161e+02] [-1.03557526e-03 9.99999346e-01 4.84747364e-04 -1.69496174e+01] [-1.92764048e-03 -4.86742941e-04 9.99998024e-01 -4.54198017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002414037 meters 0.09653287477662274 Centerline is valid? [False, True] Translation: X:213.06, Y:-16.95, Z:-4.54 [[ 9.99996809e-01 1.33127553e-03 2.14700447e-03 2.13064911e+02] [-1.33395499e-03 9.99998333e-01 1.24705155e-03 -1.69518978e+01] [-2.14534072e-03 -1.24991157e-03 9.99996918e-01 -4.54226549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062414037 meters 0.10169964218946798 Centerline is valid? [True, False] Translation: X:213.06, Y:-16.95, Z:-4.54 [[ 9.99996278e-01 1.35614130e-03 2.36735549e-03 2.13064437e+02] [-1.35979129e-03 9.99997888e-01 1.54087108e-03 -1.69531841e+01] [-2.36526085e-03 -1.54408446e-03 9.99996011e-01 -4.54222158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122414037 meters 0.10245346445770256 Centerline is valid? [False, False] Translation: X:213.06, Y:-16.95, Z:-4.54 [[ 9.99995659e-01 1.70427902e-03 2.40376180e-03 2.13064792e+02] [-1.70955393e-03 9.99996132e-01 2.19409362e-03 -1.69545219e+01] [-2.40001315e-03 -2.19819346e-03 9.99994704e-01 -4.54286425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18241403699997 meters 0.10224688650611037 Centerline is valid? [False, False] Translation: X:213.07, Y:-16.96, Z:-4.54 [[ 9.99996717e-01 -1.80058246e-03 1.82292888e-03 2.13066190e+02] [ 1.80285459e-03 9.99997599e-01 -1.24554226e-03 -1.69557019e+01] [-1.82068180e-03 1.24882464e-03 9.99997563e-01 -4.54327536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24241403699997 meters 0.10335783778343803 Centerline is valid? [False, False] Translation: X:213.07, Y:-16.96, Z:-4.54 [[ 9.99997441e-01 -1.37129475e-03 1.79925986e-03 2.13066377e+02] [ 1.37222835e-03 9.99998924e-01 -5.17743417e-04 -1.69574984e+01] [-1.79854794e-03 5.20211088e-04 9.99998247e-01 -4.54348920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30241403699998 meters 0.10390479916296312 Centerline is valid? [False, False] Translation: X:213.07, Y:-16.96, Z:-4.54 [[ 9.99998151e-01 -1.05387038e-03 1.60828072e-03 2.13066555e+02] [ 1.05394664e-03 9.99999444e-01 -4.65711187e-05 -1.69590493e+01] [-1.60823075e-03 4.82660747e-05 9.99998706e-01 -4.54321338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36241403699998 meters 0.10076952744038929 Centerline is valid? [False, False] Translation: X:213.07, Y:-16.96, Z:-4.54 [[ 9.99999046e-01 -6.13498696e-04 1.23754919e-03 2.13067482e+02] [ 6.12976185e-04 9.99999723e-01 4.22549548e-04 -1.69598927e+01] [-1.23780808e-03 -4.21790557e-04 9.99999145e-01 -4.54355857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42241403699998 meters 0.09541057343246886 Centerline is valid? [False, True] Translation: X:213.07, Y:-16.96, Z:-4.54 [[ 9.99999806e-01 1.25387491e-05 6.22302147e-04 2.13069199e+02] [-1.30728375e-05 9.99999632e-01 8.58249462e-04 -1.69600824e+01] [-6.22291156e-04 -8.58257431e-04 9.99999438e-01 -4.54442029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48241403699998 meters 0.09734340723927815 Centerline is valid? [True, True] Translation: X:213.13, Y:-16.97, Z:-4.55 [[ 9.99991731e-01 4.06676973e-03 -1.66912562e-05 2.13128022e+02] [-4.06676970e-03 9.99991731e-01 1.92198801e-06 -1.69692659e+01] [ 1.66989344e-05 -1.85409262e-06 1.00000000e+00 -4.54796634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542414037 meters 0.09499637536891296 Centerline is valid? [True, True] Translation: X:213.19, Y:-16.97, Z:-4.55 [[ 9.99976888e-01 6.77246652e-03 5.98420570e-04 2.13188343e+02] [-6.77242518e-03 9.99977064e-01 -7.10842202e-05 -1.69719205e+01] [-5.98888261e-04 6.70298188e-05 9.99999818e-01 -4.54836432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602414037 meters 0.09720319837051022 Centerline is valid? [True, True] Translation: X:213.25, Y:-16.98, Z:-4.55 [[ 9.99960326e-01 8.86424982e-03 8.78122139e-04 2.13246940e+02] [-8.86416123e-03 9.99960707e-01 -1.04729881e-04 -1.69815934e+01] [-8.79015987e-04 9.69419094e-05 9.99999609e-01 -4.55033027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662414037 meters 0.09569217523787694 Centerline is valid? [True, True] Translation: X:213.31, Y:-16.98, Z:-4.55 [[ 9.99952555e-01 9.73589682e-03 3.17752846e-04 2.13305844e+02] [-9.73588479e-03 9.99952604e-01 -3.94044468e-05 -1.69843095e+01] [-3.18121423e-04 3.63089721e-05 9.99999949e-01 -4.55118599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722414037 meters 0.09695698851512842 Centerline is valid? [True, True] Translation: X:213.36, Y:-16.99, Z:-4.55 [[ 9.99948617e-01 1.01292669e-02 4.02666660e-04 2.13363001e+02] [-1.01292477e-02 9.99948697e-01 -4.98392025e-05 -1.69927796e+01] [-4.03150837e-04 4.57579313e-05 9.99999918e-01 -4.55355383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782414037 meters 0.09314502379488443 Centerline is valid? [True, True] Translation: X:213.42, Y:-16.99, Z:-4.55 [[ 9.99952896e-01 9.70435732e-03 -1.79240548e-04 2.13421815e+02] [-9.70435406e-03 9.99952911e-01 1.90193822e-05 -1.69922801e+01] [ 1.79416678e-04 -1.72790725e-05 9.99999984e-01 -4.55346054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842414037 meters 0.09773320045967138 Centerline is valid? [True, True] Translation: X:213.48, Y:-17.01, Z:-4.56 [[ 9.99956986e-01 9.26300082e-03 -4.72398135e-04 2.13477724e+02] [-9.26297646e-03 9.99957096e-01 5.37222742e-05 -1.70077600e+01] [ 4.72875497e-04 -4.93441506e-05 9.99999887e-01 -4.55745495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90241403699997 meters 0.09538218895580633 Centerline is valid? [True, True] Translation: X:213.54, Y:-17.01, Z:-4.56 [[ 9.99966746e-01 8.12174879e-03 -7.37826455e-04 2.13536868e+02] [-8.12168755e-03 9.99967015e-01 8.59472652e-05 -1.70107763e+01] [ 7.38500160e-04 -7.99520112e-05 9.99999724e-01 -4.55845602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96241403699997 meters 0.0972227838843889 Centerline is valid? [True, True] Translation: X:213.60, Y:-17.02, Z:-4.56 [[ 9.99974525e-01 7.02946623e-03 -1.23938647e-03 2.13595482e+02] [-7.02929103e-03 9.99975284e-01 1.45660347e-04 -1.70211572e+01] [ 1.24037975e-03 -1.36944629e-04 9.99999221e-01 -4.56064514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02241403699998 meters 0.09867575269510982 Centerline is valid? [True, True] Translation: X:213.65, Y:-17.03, Z:-4.56 [[ 9.99984893e-01 5.48246094e-03 3.95914890e-04 2.13654449e+02] [-5.48244250e-03 9.99984970e-01 -4.76464508e-05 -1.70309146e+01] [-3.96170159e-04 4.54751504e-05 9.99999920e-01 -4.56300614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08241403699998 meters 0.09863605501846279 Centerline is valid? [True, True] Translation: X:213.71, Y:-17.04, Z:-4.56 [[ 9.99992714e-01 3.81617191e-03 -9.32484842e-05 2.13714299e+02] [-3.81617093e-03 9.99992718e-01 1.05888287e-05 -1.70374958e+01] [ 9.32882140e-05 -1.02328993e-05 9.99999996e-01 -4.56311039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14241403699998 meters 0.10122709670226865 Centerline is valid? [True, False] Translation: X:213.71, Y:-17.04, Z:-4.56 [[ 9.99992449e-01 3.88003223e-03 -2.17051455e-04 2.13714866e+02] [-3.88003243e-03 9.99992473e-01 -4.90042685e-07 -1.70369346e+01] [ 2.17047919e-04 1.33220567e-06 9.99999976e-01 -4.56356922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20241403699998 meters 0.10320383832230326 Centerline is valid? [False, False] Translation: X:213.72, Y:-17.03, Z:-4.56 [[ 9.99993558e-01 3.57464576e-03 -3.24015989e-04 2.13715176e+02] [-3.57485862e-03 9.99993393e-01 -6.58758939e-04 -1.70349356e+01] [ 3.21659018e-04 6.59913007e-04 9.99999731e-01 -4.56368612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26241403699999 meters 0.09996061629083383 Centerline is valid? [False, True] Translation: X:213.72, Y:-17.03, Z:-4.56 [[ 9.99993625e-01 3.53775687e-03 -4.84161250e-04 2.13715826e+02] [-3.53820810e-03 9.99993304e-01 -9.34336955e-04 -1.70334885e+01] [ 4.80852551e-04 9.36044061e-04 9.99999446e-01 -4.56414987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322414037 meters 0.09834953842674489 Centerline is valid? [True, True] Translation: X:213.78, Y:-17.04, Z:-4.56 [[ 9.99989626e-01 4.27040232e-03 1.58473256e-03 2.13775387e+02] [-4.27011159e-03 9.99990866e-01 -1.86798316e-04 -1.70358213e+01] [-1.58551579e-03 1.80029393e-04 9.99998727e-01 -4.56422151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382414037 meters 0.10153379606320832 Centerline is valid? [True, False] Translation: X:213.78, Y:-17.03, Z:-4.56 [[ 9.99990398e-01 4.09409298e-03 1.56310399e-03 2.13775491e+02] [-4.09321329e-03 9.99991463e-01 -5.65570978e-04 -1.70345901e+01] [-1.56540615e-03 5.59167429e-04 9.99998618e-01 -4.56428473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442414037 meters 0.09676739214754256 Centerline is valid? [False, True] Translation: X:213.78, Y:-17.03, Z:-4.56 [[ 9.99991102e-01 3.93484915e-03 1.52071764e-03 2.13775869e+02] [-3.93345587e-03 9.99991842e-01 -9.18105361e-04 -1.70331852e+01] [-1.52431784e-03 9.12115516e-04 9.99998422e-01 -4.56469985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502414037 meters 0.0978798438974312 Centerline is valid? [True, True] Translation: X:213.84, Y:-17.04, Z:-4.57 [[ 9.99987959e-01 4.85409533e-03 -7.20908334e-04 2.13835883e+02] [-4.85403500e-03 9.99988215e-01 8.54206020e-05 -1.70383330e+01] [ 7.21314478e-04 -8.19202592e-05 9.99999736e-01 -4.56821822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562414037 meters 0.09789072497921142 Centerline is valid? [True, True] Translation: X:213.90, Y:-17.04, Z:-4.57 [[ 9.99979406e-01 6.26688499e-03 -1.38316528e-03 2.13895543e+02] [-6.26666590e-03 9.99980351e-01 1.62675123e-04 -1.70430999e+01] [ 1.38415757e-03 -1.54003939e-04 9.99999030e-01 -4.57054011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622414037 meters 0.09727523232459145 Centerline is valid? [True, True] Translation: X:213.96, Y:-17.05, Z:-4.57 [[ 9.99974377e-01 7.09346472e-03 -9.63365975e-04 2.13955729e+02] [-7.09335946e-03 9.99974835e-01 1.12640976e-04 -1.70452311e+01] [ 9.64140747e-04 -1.05804589e-04 9.99999530e-01 -4.57202319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68241403699997 meters 0.09715059644734364 Centerline is valid? [True, True] Translation: X:214.02, Y:-17.05, Z:-4.57 [[ 9.99962857e-01 8.53735129e-03 1.18214911e-03 2.14016232e+02] [-8.53719123e-03 9.99963548e-01 -1.40381976e-04 -1.70482845e+01] [-1.18330451e-03 1.30284528e-04 9.99999291e-01 -4.57281785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74241403699997 meters 0.09751917526863435 Centerline is valid? [True, True] Translation: X:214.08, Y:-17.05, Z:-4.57 [[ 9.99952902e-01 9.51238740e-03 1.92592464e-03 2.14076290e+02] [-9.51196492e-03 9.99954734e-01 -2.28407771e-04 -1.70528980e+01] [-1.92801016e-03 2.10077685e-04 9.99998119e-01 -4.57386242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80241403699998 meters 0.09636935129727632 Centerline is valid? [True, True] Translation: X:214.14, Y:-17.05, Z:-4.57 [[ 9.99942809e-01 1.04433226e-02 2.30568585e-03 2.14136706e+02] [-1.04427198e-02 9.99945436e-01 -2.73319170e-04 -1.70537934e+01] [-2.30841440e-03 2.49225907e-04 9.99997305e-01 -4.57469217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86241403699998 meters 0.09841416690878442 Centerline is valid? [True, True] Translation: X:214.20, Y:-17.06, Z:-4.58 [[ 9.99947543e-01 1.01779907e-02 1.14875901e-03 2.14195075e+02] [-1.01778396e-02 9.99948195e-01 -1.37242198e-04 -1.70610037e+01] [-1.15009635e-03 1.25543114e-04 9.99999331e-01 -4.57851691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92241403699998 meters 0.09801752816607291 Centerline is valid? [True, True] Translation: X:214.26, Y:-17.07, Z:-4.58 [[ 9.99962270e-01 8.66692303e-03 -5.85413735e-04 2.14255166e+02] [-8.66688423e-03 9.99962439e-01 6.87847016e-05 -1.70655060e+01] [ 5.85987898e-04 -6.37083933e-05 9.99999826e-01 -4.58078299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98241403699998 meters 0.10033594358232938 Centerline is valid? [True, False] Translation: X:214.26, Y:-17.06, Z:-4.58 [[ 9.99978415e-01 6.44605530e-03 -1.27158807e-03 2.14257655e+02] [-6.44914702e-03 9.99976221e-01 -2.44245783e-03 -1.70627529e+01] [ 1.25581361e-03 2.45060576e-03 9.99996209e-01 -4.58239964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042414037 meters 0.09968795857768499 Centerline is valid? [False, True] Translation: X:214.26, Y:-17.06, Z:-4.58 [[ 9.99979535e-01 6.30155511e-03 -1.10414631e-03 2.14257619e+02] [-6.30436959e-03 9.99976839e-01 -2.56434798e-03 -1.70618960e+01] [ 1.08796135e-03 2.57125645e-03 9.99996102e-01 -4.58284467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102414037 meters 0.10080120985552199 Centerline is valid? [True, False] Translation: X:214.26, Y:-17.06, Z:-4.58 [[ 9.99982937e-01 5.78801204e-03 -7.90040334e-04 2.14256638e+02] [-5.79043987e-03 9.99978411e-01 -3.10615026e-03 -1.70609782e+01] [ 7.72044843e-04 3.11067194e-03 9.99994864e-01 -4.58233681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162414037 meters 0.10303632655145509 Centerline is valid? [False, False] Translation: X:214.26, Y:-17.06, Z:-4.58 [[ 9.99984541e-01 5.54514115e-03 -4.10474606e-04 2.14256135e+02] [-5.54642020e-03 9.99979551e-01 -3.18338361e-03 -1.70604760e+01] [ 3.92813901e-04 3.18561106e-03 9.99994849e-01 -4.58273540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222414037 meters 0.1036307753187104 Centerline is valid? [False, False] Translation: X:214.26, Y:-17.06, Z:-4.58 [[ 9.99985692e-01 5.34746300e-03 -1.41656780e-04 2.14256002e+02] [-5.34789923e-03 9.99980312e-01 -3.28251710e-03 -1.70597159e+01] [ 1.24100852e-04 3.28322770e-03 9.99994602e-01 -4.58339617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282414037 meters 0.10634371930622348 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.06, Z:-4.58 [[ 9.99972687e-01 8.78281003e-04 -7.33847843e-03 2.14265719e+02] [-8.85408919e-04 9.99999139e-01 -9.68114705e-04 -1.70576656e+01] [ 7.33762184e-03 9.74585818e-04 9.99972604e-01 -4.57975848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342414037 meters 0.10121188519823207 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.06, Z:-4.58 [[ 9.99973051e-01 5.18414711e-04 -7.32318476e-03 2.14265495e+02] [-5.29516147e-04 9.99998714e-01 -1.51407259e-03 -1.70562687e+01] [ 7.32239042e-03 1.51790953e-03 9.99972039e-01 -4.57949178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40241403699997 meters 0.10320265390914828 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99970470e-01 6.16557167e-04 -7.66017913e-03 2.14266650e+02] [-6.29783188e-04 9.99998315e-01 -1.72430195e-03 -1.70545792e+01] [ 7.65910309e-03 1.72907528e-03 9.99969174e-01 -4.58019936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46241403699997 meters 0.101857615585951 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99966718e-01 6.70317114e-04 -8.13101783e-03 2.14267976e+02] [-6.87933996e-04 9.99997422e-01 -2.16402355e-03 -1.70521400e+01] [ 8.12954629e-03 2.16954513e-03 9.99964601e-01 -4.58074104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52241403699998 meters 0.10298885327541729 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99964454e-01 7.33348249e-04 -8.39963052e-03 2.14268849e+02] [-7.53003937e-04 9.99996985e-01 -2.33714241e-03 -1.70507286e+01] [ 8.39789126e-03 2.34338429e-03 9.99961991e-01 -4.58121681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58241403699998 meters 0.10285520715790243 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99962564e-01 7.41589645e-04 -8.62098035e-03 2.14269532e+02] [-7.63760861e-04 9.99996409e-01 -2.56876669e-03 -1.70493030e+01] [ 8.61904443e-03 2.57525489e-03 9.99959539e-01 -4.58153517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64241403699998 meters 0.10218585032302495 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99963927e-01 6.97913068e-04 -8.46509912e-03 2.14269410e+02] [-7.18997879e-04 9.99996646e-01 -2.48800570e-03 -1.70493632e+01] [ 8.46333432e-03 2.49400233e-03 9.99961075e-01 -4.58183934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70241403699998 meters 0.10417345163704922 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99963280e-01 9.57199018e-04 -8.51598280e-03 2.14269876e+02] [-9.75279188e-04 9.99997279e-01 -2.11918733e-03 -1.70498181e+01] [ 8.51393114e-03 2.12741497e-03 9.99961493e-01 -4.58235501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76241403699999 meters 0.10437985522073574 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99964465e-01 8.77155486e-04 -8.38446017e-03 2.14269721e+02] [-8.94892270e-04 9.99997369e-01 -2.11191787e-03 -1.70496559e+01] [ 8.38258564e-03 2.11934601e-03 9.99962620e-01 -4.58253403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822414037 meters 0.10612663076761646 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99964191e-01 9.58103325e-04 -8.40822981e-03 2.14269945e+02] [-9.74940845e-04 9.99997527e-01 -1.99863447e-03 -1.70496118e+01] [ 8.40629412e-03 2.00676042e-03 9.99962653e-01 -4.58279085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882414037 meters 0.1010437880463367 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99965283e-01 9.25227542e-04 -8.28109412e-03 2.14269561e+02] [-9.41296731e-04 9.99997681e-01 -1.93677979e-03 -1.70499000e+01] [ 8.27928296e-03 1.94450752e-03 9.99963836e-01 -4.58263035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942414037 meters 0.10607828221771423 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99964262e-01 1.03987352e-03 -8.39004161e-03 2.14269799e+02] [-1.05490151e-03 9.99997847e-01 -1.78694423e-03 -1.70502795e+01] [ 8.38816535e-03 1.79573103e-03 9.99963206e-01 -4.58265737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002414037 meters 0.10968992402906312 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99962349e-01 1.58242783e-03 -8.53205649e-03 2.14270656e+02] [-1.59134142e-03 9.99998195e-01 -1.03802993e-03 -1.70515445e+01] [ 8.53039849e-03 1.05156827e-03 9.99963063e-01 -4.58348760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062414037 meters 0.10162548174321409 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99960599e-01 1.92302024e-03 -8.66619977e-03 2.14270984e+02] [-1.92808587e-03 9.99997975e-01 -5.76210936e-04 -1.70529113e+01] [ 8.66507416e-03 5.92897410e-04 9.99962282e-01 -4.58357945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122414037 meters 0.10221338704441267 Centerline is valid? [False, False] Translation: X:214.27, Y:-17.05, Z:-4.58 [[ 9.99960055e-01 2.08238782e-03 -8.69205619e-03 2.14270901e+02] [-2.08487177e-03 9.99997788e-01 -2.76720351e-04 -1.70539936e+01] [ 8.69146072e-03 2.94831120e-04 9.99962185e-01 -4.58340302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18241403699997 meters 0.09636435248288341 Centerline is valid? [False, True] Translation: X:214.27, Y:-17.06, Z:-4.58 [[ 9.99959594e-01 2.37250078e-03 -8.67075378e-03 2.14270592e+02] [-2.37025803e-03 9.99997155e-01 2.68924063e-04 -1.70561657e+01] [ 8.67136713e-03 -2.48361273e-04 9.99962372e-01 -4.58301781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24241403699997 meters 0.09942120947369744 Centerline is valid? [True, True] Translation: X:214.33, Y:-17.07, Z:-4.59 [[ 9.99963812e-01 3.26246289e-03 -7.85696794e-03 2.14328531e+02] [-3.25543238e-03 9.99994289e-01 9.07435660e-04 -1.70710833e+01] [ 7.85988355e-03 -8.81824993e-04 9.99968722e-01 -4.58593340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30241403699998 meters 0.09936308000561231 Centerline is valid? [True, True] Translation: X:214.39, Y:-17.08, Z:-4.59 [[ 9.99966353e-01 4.85437321e-03 -6.61267739e-03 2.14387763e+02] [-4.84942689e-03 9.99987950e-01 7.63834783e-04 -1.70817188e+01] [ 6.61630565e-03 -7.31741387e-04 9.99977844e-01 -4.58620770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36241403699998 meters 0.09830020963947768 Centerline is valid? [True, True] Translation: X:214.45, Y:-17.09, Z:-4.59 [[ 9.99965186e-01 4.55733698e-03 -6.98979202e-03 2.14446251e+02] [-4.55181281e-03 9.99989316e-01 8.06024594e-04 -1.70905312e+01] [ 6.99339066e-03 -7.74180309e-04 9.99975246e-01 -4.58609653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42241403699998 meters 0.10155269074446062 Centerline is valid? [True, False] Translation: X:214.45, Y:-17.09, Z:-4.59 [[ 9.99971088e-01 1.17806735e-03 -7.51237254e-03 2.14447722e+02] [-1.19539773e-03 9.99996634e-01 -2.30283987e-03 -1.70932590e+01] [ 7.50963435e-03 2.31175356e-03 9.99969130e-01 -4.58674617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48241403699998 meters 0.0941117198292924 Centerline is valid? [False, True] Translation: X:214.45, Y:-17.09, Z:-4.59 [[ 9.99970877e-01 1.40332258e-03 -7.50166765e-03 2.14447836e+02] [-1.41738538e-03 9.99997248e-01 -1.86963556e-03 -1.70945774e+01] [ 7.49902330e-03 1.88021386e-03 9.99970114e-01 -4.58694985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542414037 meters 0.09690571906778177 Centerline is valid? [True, True] Translation: X:214.51, Y:-17.11, Z:-4.59 [[ 9.99974267e-01 2.57067074e-03 -6.69747414e-03 2.14505562e+02] [-2.56564329e-03 9.99996421e-01 7.59132164e-04 -1.71088150e+01] [ 6.69940164e-03 -7.41929300e-04 9.99977284e-01 -4.59048542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602414037 meters 0.09674866808222544 Centerline is valid? [True, True] Translation: X:214.57, Y:-17.12, Z:-4.59 [[ 9.99982795e-01 3.94709644e-03 -4.33935070e-03 2.14565311e+02] [-3.94499854e-03 9.99992097e-01 4.91912780e-04 -1.71170275e+01] [ 4.34125804e-03 -4.74785585e-04 9.99990464e-01 -4.59058974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662414037 meters 0.09668404383866243 Centerline is valid? [True, True] Translation: X:214.63, Y:-17.12, Z:-4.59 [[ 9.99973983e-01 6.29600312e-03 -3.52040109e-03 2.14625226e+02] [-6.29463598e-03 9.99980109e-01 3.99291928e-04 -1.71249876e+01] [ 3.52284501e-03 -3.77121897e-04 9.99993724e-01 -4.59210278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722414037 meters 0.09479098568546769 Centerline is valid? [True, True] Translation: X:214.69, Y:-17.13, Z:-4.59 [[ 9.99953830e-01 8.57499864e-03 -4.33674771e-03 2.14685242e+02] [-8.57294593e-03 9.99963131e-01 4.91697158e-04 -1.71283032e+01] [ 4.34080412e-03 -4.54495753e-04 9.99990475e-01 -4.59450670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782414037 meters 0.09363084991933356 Centerline is valid? [True, True] Translation: X:214.75, Y:-17.13, Z:-4.60 [[ 9.99915530e-01 1.18540054e-02 -5.33066878e-03 2.14746123e+02] [-1.18509465e-02 9.99929592e-01 6.05045641e-04 -1.71325041e+01] [ 5.33746568e-03 -5.41821062e-04 9.99985609e-01 -4.59700479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842414037 meters 0.11292903733190618 Centerline is valid? [True, False] Translation: X:214.82, Y:-17.14, Z:-4.60 [[ 9.99915431e-01 1.03056832e-02 -7.93247239e-03 2.14821841e+02] [-1.02974057e-02 9.99946393e-01 1.08363487e-03 -1.71387879e+01] [ 7.94321475e-03 -1.00185934e-03 9.99967950e-01 -4.59626504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90241403699997 meters 0.09420847315872269 Centerline is valid? [False, True] Translation: X:214.77, Y:-17.13, Z:-4.60 [[ 9.99913798e-01 1.14861601e-02 -6.36112078e-03 2.14765583e+02] [-1.14577827e-02 9.99924323e-01 4.47969103e-03 -1.71329679e+01] [ 6.41209384e-03 -4.40642054e-03 9.99969734e-01 -4.59765347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96241403699997 meters 0.09148894894638082 Centerline is valid? [True, True] Translation: X:214.83, Y:-17.13, Z:-4.60 [[ 9.99915614e-01 1.14988163e-02 -6.04492416e-03 2.14825614e+02] [-1.14949720e-02 9.99933706e-01 6.70316256e-04 -1.71301361e+01] [ 6.05223126e-03 -6.00773457e-04 9.99981505e-01 -4.59608959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02241403699998 meters 0.09124750636210659 Centerline is valid? [True, True] Translation: X:214.88, Y:-17.13, Z:-4.60 [[ 9.99935678e-01 1.02829538e-02 -4.78554498e-03 2.14884007e+02] [-1.02805310e-02 9.99947013e-01 5.30609389e-04 -1.71327018e+01] [ 4.79074764e-03 -4.81377316e-04 9.99988408e-01 -4.59592475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08241403699998 meters 0.09344259663277796 Centerline is valid? [True, True] Translation: X:214.94, Y:-17.14, Z:-4.60 [[ 9.99959345e-01 8.23162468e-03 -3.68090646e-03 2.14943295e+02] [-8.23017395e-03 9.99966048e-01 4.09096183e-04 -1.71416984e+01] [ 3.68414901e-03 -3.78785051e-04 9.99993142e-01 -4.59619367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14241403699998 meters 0.09844428869760416 Centerline is valid? [True, True] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99986939e-01 3.60040156e-03 -3.62757613e-03 2.15002018e+02] [-3.59896210e-03 9.99993442e-01 4.03261256e-04 -1.71537279e+01] [ 3.62900425e-03 -3.90200480e-04 9.99993339e-01 -4.59846743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20241403699998 meters 0.10031602858863826 Centerline is valid? [True, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99991065e-01 2.85132144e-03 -3.12097847e-03 2.15000818e+02] [-2.85240140e-03 9.99995874e-01 -3.41635843e-04 -1.71524351e+01] [ 3.11999148e-03 3.50535074e-04 9.99995071e-01 -4.59820973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26241403699999 meters 0.10626941343099387 Centerline is valid? [False, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99993634e-01 -1.40943151e-03 -3.27802162e-03 2.15001895e+02] [ 1.39397971e-03 9.99987930e-01 -4.71127312e-03 -1.71506972e+01] [ 3.28462228e-03 4.70667363e-03 9.99983529e-01 -4.59933112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322414037 meters 0.10300233923860243 Centerline is valid? [False, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99994706e-01 -1.60956248e-03 -2.82783324e-03 2.15001265e+02] [ 1.59655074e-03 9.99988157e-01 -4.59755721e-03 -1.71506305e+01] [ 2.83519980e-03 4.59301809e-03 9.99985433e-01 -4.59975432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382414037 meters 0.10379378594484223 Centerline is valid? [False, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99995031e-01 -1.70853116e-03 -2.64941618e-03 2.15000970e+02] [ 1.69634323e-03 9.99988001e-01 -4.59567673e-03 -1.71503902e+01] [ 2.65723624e-03 4.59115958e-03 9.99985930e-01 -4.59985746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442414037 meters 0.105905272320132 Centerline is valid? [False, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99994819e-01 -1.68579610e-03 -2.74244503e-03 2.15001420e+02] [ 1.67308974e-03 9.99987887e-01 -4.62894137e-03 -1.71495944e+01] [ 2.75021526e-03 4.62432903e-03 9.99985526e-01 -4.60026462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502414037 meters 0.10333539832465581 Centerline is valid? [False, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99994176e-01 -1.47256304e-03 -3.07883087e-03 2.15002548e+02] [ 1.45825393e-03 9.99988150e-01 -4.64466879e-03 -1.71485277e+01] [ 3.08563395e-03 4.64015202e-03 9.99984474e-01 -4.60091503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562414037 meters 0.1013916617823906 Centerline is valid? [False, False] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99991609e-01 2.78313513e-03 -3.00603802e-03 2.15002905e+02] [-2.78470693e-03 9.99995988e-01 -5.18822433e-04 -1.71475463e+01] [ 3.00458201e-03 5.27189014e-04 9.99995347e-01 -4.60164137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622414037 meters 0.09876414020204519 Centerline is valid? [False, True] Translation: X:215.00, Y:-17.15, Z:-4.60 [[ 9.99988078e-01 3.19401934e-03 -3.69361172e-03 2.15004827e+02] [-3.19652970e-03 9.99994664e-01 -6.73946180e-04 -1.71453573e+01] [ 3.69143941e-03 6.85744885e-04 9.99992951e-01 -4.60251047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68241403699997 meters 0.09913472056485874 Centerline is valid? [True, True] Translation: X:215.06, Y:-17.15, Z:-4.60 [[ 9.99970224e-01 7.14592898e-03 -2.91337006e-03 2.15064413e+02] [-7.14495786e-03 9.99974415e-01 3.43606617e-04 -1.71510574e+01] [ 2.91575091e-03 -3.22780479e-04 9.99995697e-01 -4.60439051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74241403699997 meters 0.09823539743074397 Centerline is valid? [True, True] Translation: X:215.13, Y:-17.15, Z:-4.60 [[ 9.99934765e-01 1.12917609e-02 -1.72105910e-03 2.15125186e+02] [-1.12914277e-02 9.99936229e-01 2.03172601e-04 -1.71547568e+01] [ 1.72324352e-03 -1.83726133e-04 9.99998498e-01 -4.60477747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80241403699998 meters 0.09288057133559102 Centerline is valid? [True, True] Translation: X:215.19, Y:-17.15, Z:-4.60 [[ 9.99880418e-01 1.54124399e-02 -1.26730822e-03 2.15187015e+02] [-1.54122627e-02 9.99881213e-01 1.49482050e-04 -1.71493521e+01] [ 1.26946157e-03 -1.29932088e-04 9.99999186e-01 -4.60463469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86241403699998 meters 0.09686272836709947 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.16, Z:-4.61 [[ 9.99857742e-01 1.66953615e-02 -2.40033606e-03 2.15243769e+02] [-1.66947339e-02 9.99860594e-01 2.81252870e-04 -1.71621029e+01] [ 2.40469706e-03 -2.41139888e-04 9.99997080e-01 -4.60800221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92241403699998 meters 0.09605501707140694 Centerline is valid? [True, True] Translation: X:215.30, Y:-17.17, Z:-4.61 [[ 9.99860313e-01 1.63918908e-02 -3.26491978e-03 2.15302114e+02] [-1.63907252e-02 9.99865590e-01 3.83454070e-04 -1.71666793e+01] [ 3.27076648e-03 -3.29886104e-04 9.99994597e-01 -4.60945692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98241403699998 meters 0.09348373439149207 Centerline is valid? [True, True] Translation: X:215.36, Y:-17.17, Z:-4.61 [[ 9.99877213e-01 1.54600297e-02 -2.55862188e-03 2.15361191e+02] [-1.54593123e-02 9.99880453e-01 2.99953466e-04 -1.71694347e+01] [ 2.56295329e-03 -2.60362101e-04 9.99996682e-01 -4.60967582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042414037 meters 0.09800404738676669 Centerline is valid? [True, True] Translation: X:215.42, Y:-17.18, Z:-4.61 [[ 9.99901831e-01 1.38315133e-02 -2.23993850e-03 2.15419297e+02] [-1.38309573e-02 9.99904313e-01 2.63518682e-04 -1.71846022e+01] [ 2.24336903e-03 -2.32512319e-04 9.99997457e-01 -4.61302765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102414037 meters 0.09381343763853826 Centerline is valid? [True, True] Translation: X:215.48, Y:-17.18, Z:-4.61 [[ 9.99927002e-01 1.18736882e-02 -2.23733069e-03 2.15480153e+02] [-1.18731288e-02 9.99929477e-01 2.63159786e-04 -1.71840921e+01] [ 2.24029759e-03 -2.36576461e-04 9.99997463e-01 -4.61280868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162414037 meters 0.09726497449709853 Centerline is valid? [True, True] Translation: X:215.54, Y:-17.20, Z:-4.61 [[ 9.99942341e-01 1.06066321e-02 -1.67734115e-03 2.15537143e+02] [-1.06063178e-02 9.99943732e-01 1.96134900e-04 -1.71973986e+01] [ 1.67932710e-03 -1.78333178e-04 9.99998574e-01 -4.61435608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222414037 meters 0.09666977223500994 Centerline is valid? [True, True] Translation: X:215.60, Y:-17.20, Z:-4.61 [[ 9.99953029e-01 9.62968882e-03 -1.09937364e-03 2.15596733e+02] [-9.62955315e-03 9.99953627e-01 1.28629282e-04 -1.72026244e+01] [ 1.10056131e-03 -1.18036763e-04 9.99999387e-01 -4.61462699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282414037 meters 0.09740380860229966 Centerline is valid? [True, True] Translation: X:215.65, Y:-17.21, Z:-4.62 [[ 9.99947501e-01 1.01999564e-02 -9.78222512e-04 2.15654933e+02] [-1.01998502e-02 9.99947974e-01 1.13541217e-04 -1.72106646e+01] [ 9.79329734e-04 -1.03557533e-04 9.99999515e-01 -4.61767575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342414037 meters 0.0969739852809284 Centerline is valid? [True, True] Translation: X:215.71, Y:-17.22, Z:-4.62 [[ 9.99936641e-01 1.10896152e-02 -1.93239915e-03 2.15713857e+02] [-1.10891988e-02 9.99938487e-01 2.26060252e-04 -1.72161456e+01] [ 1.93478720e-03 -2.04617171e-04 9.99998107e-01 -4.61949898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40241403699997 meters 0.10033086192475722 Centerline is valid? [True, False] Translation: X:215.71, Y:-17.21, Z:-4.62 [[ 9.99936245e-01 1.10479350e-02 -2.33432450e-03 2.15714866e+02] [-1.10487577e-02 9.99938903e-01 -3.39843929e-04 -1.72139250e+01] [ 2.33042731e-03 3.65613648e-04 9.99997218e-01 -4.61973460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46241403699997 meters 0.0947126524072096 Centerline is valid? [False, True] Translation: X:215.72, Y:-17.21, Z:-4.62 [[ 9.99937166e-01 1.09197582e-02 -2.53427687e-03 2.15715162e+02] [-1.09217883e-02 9.99940045e-01 -7.88575380e-04 -1.72124963e+01] [ 2.52551387e-03 8.16204666e-04 9.99996478e-01 -4.61951530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52241403699998 meters 0.0939864769153917 Centerline is valid? [True, True] Translation: X:215.77, Y:-17.22, Z:-4.62 [[ 9.99937476e-01 1.08106260e-02 -2.85921545e-03 2.15774035e+02] [-1.08097534e-02 9.99941522e-01 3.20463140e-04 -1.72175178e+01] [ 2.86251266e-03 -2.89535689e-04 9.99995861e-01 -4.62140541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58241403699998 meters 0.09644474269555697 Centerline is valid? [True, True] Translation: X:215.83, Y:-17.23, Z:-4.62 [[ 9.99940062e-01 1.02994554e-02 -3.71395291e-03 2.15830812e+02] [-1.02979805e-02 9.99946888e-01 4.16040247e-04 -1.72277393e+01] [ 3.71804065e-03 -3.77769096e-04 9.99993017e-01 -4.62487301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64241403699998 meters 0.09642402856147235 Centerline is valid? [True, True] Translation: X:215.89, Y:-17.23, Z:-4.63 [[ 9.99945895e-01 9.45198110e-03 -4.34367078e-03 2.15890124e+02] [-9.44995041e-03 9.99955229e-01 4.87791321e-04 -1.72338227e+01] [ 4.34808690e-03 -4.46717455e-04 9.99990447e-01 -4.62641100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70241403699998 meters 0.0976263729299422 Centerline is valid? [True, True] Translation: X:215.95, Y:-17.24, Z:-4.63 [[ 9.99968724e-01 7.14397889e-03 -3.39330446e-03 2.15949247e+02] [-7.14272598e-03 9.99974418e-01 3.81203960e-04 -1.72423530e+01] [ 3.39594097e-03 -3.56954594e-04 9.99994170e-01 -4.62690177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76241403699999 meters 0.09594309889992823 Centerline is valid? [True, True] Translation: X:216.01, Y:-17.25, Z:-4.63 [[ 9.99984039e-01 4.79646698e-03 -2.98593905e-03 2.16009717e+02] [-4.79548675e-03 9.99988445e-01 3.35352664e-04 -1.72455527e+01] [ 2.98751306e-03 -3.21028281e-04 9.99995486e-01 -4.62719971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822414037 meters 0.1008137776317585 Centerline is valid? [True, False] Translation: X:216.01, Y:-17.25, Z:-4.63 [[ 9.99989209e-01 4.01917283e-03 -2.32998100e-03 2.16007922e+02] [-4.01971839e-03 9.99991895e-01 -2.29513916e-04 -1.72450864e+01] [ 2.32903966e-03 2.38877306e-04 9.99997259e-01 -4.62655684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882414037 meters 0.10101106836280364 Centerline is valid? [False, False] Translation: X:216.01, Y:-17.25, Z:-4.63 [[ 9.99989970e-01 3.95806901e-03 -2.09602285e-03 2.16007823e+02] [-3.95826763e-03 9.99992162e-01 -9.06241265e-05 -1.72450382e+01] [ 2.09564772e-03 9.89198369e-05 9.99997799e-01 -4.62711438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942414037 meters 0.09961766965089507 Centerline is valid? [False, True] Translation: X:216.01, Y:-17.24, Z:-4.63 [[ 9.99991807e-01 3.61467709e-03 -1.82210444e-03 2.16007253e+02] [-3.61542864e-03 9.99993381e-01 -4.09337003e-04 -1.72444748e+01] [ 1.82061276e-03 4.15921337e-04 9.99998256e-01 -4.62711298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002414037 meters 0.1014338876796862 Centerline is valid? [True, False] Translation: X:216.01, Y:-17.24, Z:-4.63 [[ 9.99990936e-01 3.79750667e-03 -1.92543301e-03 2.16007832e+02] [-3.79791502e-03 9.99992766e-01 -2.08471464e-04 -1.72442244e+01] [ 1.92462741e-03 2.15782205e-04 9.99998125e-01 -4.62766242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062414037 meters 0.10281168969177815 Centerline is valid? [False, False] Translation: X:216.01, Y:-17.24, Z:-4.63 [[ 9.99992405e-01 3.47955700e-03 -1.75567647e-03 2.16006945e+02] [-3.48047084e-03 9.99993809e-01 -5.17722666e-04 -1.72441142e+01] [ 1.75386415e-03 5.23829315e-04 9.99998325e-01 -4.62688330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122414037 meters 0.1021754141491516 Centerline is valid? [False, False] Translation: X:216.01, Y:-17.24, Z:-4.63 [[ 9.99992563e-01 3.45538821e-03 -1.71278381e-03 2.16006755e+02] [-3.45624030e-03 9.99993905e-01 -4.94781319e-04 -1.72443260e+01] [ 1.71106371e-03 5.00697431e-04 9.99998411e-01 -4.62671252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18241403699997 meters 0.10388436555924058 Centerline is valid? [False, False] Translation: X:216.01, Y:-17.25, Z:-4.63 [[ 9.99993090e-01 3.42038625e-03 -1.45651676e-03 2.16006007e+02] [-3.42074517e-03 9.99994119e-01 -2.44003381e-04 -1.72459632e+01] [ 1.45567361e-03 2.48984067e-04 9.99998910e-01 -4.62636168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24241403699997 meters 0.10474798926721762 Centerline is valid? [False, False] Translation: X:216.01, Y:-17.25, Z:-4.63 [[ 9.99993491e-01 3.44326075e-03 -1.07764785e-03 2.16005306e+02] [-3.44306428e-03 9.99994056e-01 1.84118952e-04 -1.72477533e+01] [ 1.07827541e-03 -1.80407343e-04 9.99999402e-01 -4.62648756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30241403699998 meters 0.10944563895112074 Centerline is valid? [False, False] Translation: X:216.01, Y:-17.25, Z:-4.63 [[ 9.99999138e-01 -3.98068708e-04 -1.25084443e-03 2.16005807e+02] [ 3.93783187e-04 9.99994059e-01 -3.42448246e-03 -1.72495392e+01] [ 1.25220018e-03 3.42398695e-03 9.99993354e-01 -4.62669563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36241403699998 meters 0.10467847750229275 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.25, Z:-4.63 [[ 9.99999624e-01 -3.24024976e-04 -8.04774980e-04 2.16004913e+02] [ 3.21788784e-04 9.99996092e-01 -2.77723232e-03 -1.72519058e+01] [ 8.05671727e-04 2.77697231e-03 9.99995820e-01 -4.62671130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42241403699998 meters 0.1069164755555429 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.26, Z:-4.63 [[ 9.99999886e-01 8.56115459e-05 -4.68804981e-04 2.16004470e+02] [-8.64060454e-05 9.99998560e-01 -1.69497562e-03 -1.72551584e+01] [ 4.68659197e-04 1.69501593e-03 9.99998454e-01 -4.62702023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48241403699998 meters 0.1064923825988845 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.26, Z:-4.63 [[ 9.99999938e-01 2.74353388e-04 -2.22798162e-04 2.16003877e+02] [-2.74601898e-04 9.99999339e-01 -1.11614357e-03 -1.72573602e+01] [ 2.22491797e-04 1.11620468e-03 9.99999352e-01 -4.62684116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542414037 meters 0.10682087374281275 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.26, Z:-4.63 [[ 9.99999944e-01 2.99802227e-04 1.51287785e-04 2.16002563e+02] [-2.99706540e-04 9.99999755e-01 -6.32107968e-04 -1.72603840e+01] [-1.51477256e-04 6.32062591e-04 9.99999789e-01 -4.62594417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602414037 meters 0.10863867735948736 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.26, Z:-4.63 [[ 9.99999633e-01 7.86450421e-04 3.41178193e-04 2.16002237e+02] [-7.86593482e-04 9.99999603e-01 4.19382456e-04 -1.72638188e+01] [-3.40848234e-04 -4.19650670e-04 9.99999854e-01 -4.62600884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662414037 meters 0.10994725698958617 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.27, Z:-4.63 [[ 9.99999198e-01 1.09358503e-03 6.38152588e-04 2.16001618e+02] [-1.09438651e-03 9.99998611e-01 1.25693683e-03 -1.72668853e+01] [-6.36777135e-04 -1.25763421e-03 9.99999006e-01 -4.62598145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722414037 meters 0.10826360048278355 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.27, Z:-4.63 [[ 9.99998021e-01 1.87533673e-03 6.63921899e-04 2.16001581e+02] [-1.87709610e-03 9.99994702e-01 2.65932223e-03 -1.72714606e+01] [-6.58931257e-04 -2.66056321e-03 9.99996244e-01 -4.62600088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782414037 meters 0.10541408312354701 Centerline is valid? [False, False] Translation: X:216.00, Y:-17.27, Z:-4.63 [[ 9.99996894e-01 2.44081560e-03 5.04483707e-04 2.16001809e+02] [-2.44259087e-03 9.99990720e-01 3.54884046e-03 -1.72741824e+01] [-4.95816960e-04 -3.55006168e-03 9.99993576e-01 -4.62586151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842414037 meters 0.09997969431782251 Centerline is valid? [False, True] Translation: X:216.00, Y:-17.28, Z:-4.63 [[ 9.99999637e-01 -5.94419094e-04 -6.09671949e-04 2.16003812e+02] [ 5.94580497e-04 9.99999788e-01 2.64590198e-04 -1.72759844e+01] [ 6.09514543e-04 -2.64952601e-04 9.99999779e-01 -4.62560768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90241403699997 meters 0.09568249133319259 Centerline is valid? [True, True] Translation: X:216.06, Y:-17.28, Z:-4.63 [[ 9.99996119e-01 2.63756117e-03 -8.97877096e-04 2.16064795e+02] [-2.63746542e-03 9.99996516e-01 1.07808345e-04 -1.72781856e+01] [ 8.98158319e-04 -1.05439807e-04 9.99999591e-01 -4.62623315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96241403699997 meters 0.09611683797509091 Centerline is valid? [True, True] Translation: X:216.12, Y:-17.29, Z:-4.63 [[ 9.99975000e-01 6.84860017e-03 -1.75975439e-03 2.16123702e+02] [-6.84823949e-03 9.99976528e-01 2.10906345e-04 -1.72892301e+01] [ 1.76115750e-03 -1.98849853e-04 9.99998429e-01 -4.62945976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02241403699998 meters 0.0955410768704912 Centerline is valid? [True, True] Translation: X:216.18, Y:-17.30, Z:-4.63 [[ 9.99940952e-01 1.06477541e-02 -2.17201640e-03 2.16182950e+02] [-1.06472148e-02 9.99943283e-01 2.59716751e-04 -1.72988303e+01] [ 2.17465861e-03 -2.36575490e-04 9.99997607e-01 -4.63125941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08241403699998 meters 0.09438537318477379 Centerline is valid? [True, True] Translation: X:216.24, Y:-17.31, Z:-4.63 [[ 9.99923826e-01 1.21571626e-02 -2.13213658e-03 2.16241827e+02] [-1.21566465e-02 9.99926073e-01 2.54832939e-04 -1.73072723e+01] [ 2.13507701e-03 -2.28893896e-04 9.99997695e-01 -4.63276446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14241403699998 meters 0.09727088444399949 Centerline is valid? [True, True] Translation: X:216.30, Y:-17.32, Z:-4.63 [[ 9.99922284e-01 1.24265755e-02 -1.00346694e-03 2.16298272e+02] [-1.24264633e-02 9.99922782e-01 1.17983420e-04 -1.73224783e+01] [ 1.00485559e-03 -1.05504705e-04 9.99999490e-01 -4.63475426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20241403699998 meters 0.09661745911893231 Centerline is valid? [True, True] Translation: X:216.36, Y:-17.33, Z:-4.64 [[ 9.99933021e-01 1.15354491e-02 -9.41604022e-04 2.16356980e+02] [-1.15353488e-02 9.99933459e-01 1.11919206e-04 -1.73333170e+01] [ 9.42832406e-04 -1.01049979e-04 9.99999550e-01 -4.63565751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26241403699999 meters 0.0922340606089303 Centerline is valid? [True, True] Translation: X:216.42, Y:-17.34, Z:-4.63 [[ 9.99943362e-01 1.05839201e-02 -1.11978004e-03 2.16416224e+02] [-1.05837781e-02 9.99943981e-01 1.32688589e-04 -1.73367439e+01] [ 1.12112167e-03 -1.20829571e-04 9.99999364e-01 -4.63477154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322414037 meters 0.0940804808239922 Centerline is valid? [True, True] Translation: X:216.47, Y:-17.35, Z:-4.64 [[ 9.99949148e-01 9.93359731e-03 -1.73912898e-03 2.16474526e+02] [-9.93325159e-03 9.99950643e-01 2.07311546e-04 -1.73516421e+01] [ 1.74110249e-03 -1.90025799e-04 9.99998466e-01 -4.63674814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382414037 meters 0.09342612383216514 Centerline is valid? [True, True] Translation: X:216.53, Y:-17.36, Z:-4.64 [[ 9.99944347e-01 1.03085087e-02 -2.24430685e-03 2.16532730e+02] [-1.03079358e-02 9.99946836e-01 2.66690512e-04 -1.73604460e+01] [ 2.24693672e-03 -2.43541499e-04 9.99997446e-01 -4.63826488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442414037 meters 0.09497199725695081 Centerline is valid? [True, True] Translation: X:216.59, Y:-17.37, Z:-4.64 [[ 9.99941773e-01 1.05687802e-02 -2.17969664e-03 2.16590499e+02] [-1.05682408e-02 9.99944121e-01 2.58836858e-04 -1.73724270e+01] [ 2.18231043e-03 -2.35786228e-04 9.99997591e-01 -4.64122546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502414037 meters 0.09624377633159717 Centerline is valid? [True, True] Translation: X:216.65, Y:-17.39, Z:-4.64 [[ 9.99928012e-01 1.16190243e-02 -2.99498051e-03 2.16648729e+02] [-1.16180074e-02 9.99932445e-01 3.56684930e-04 -1.73851871e+01] [ 2.99892251e-03 -3.21863547e-04 9.99995451e-01 -4.64466188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562414037 meters 0.09797922275342145 Centerline is valid? [True, True] Translation: X:216.71, Y:-17.40, Z:-4.65 [[ 9.99932244e-01 1.15097387e-02 -1.74160379e-03 2.16706136e+02] [-1.15093966e-02 9.99933743e-01 2.06277446e-04 -1.73989416e+01] [ 1.74386260e-03 -1.86218661e-04 9.99998462e-01 -4.64690810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622414037 meters 0.09139586952609753 Centerline is valid? [True, True] Translation: X:216.77, Y:-17.40, Z:-4.64 [[ 9.99941274e-01 1.07334987e-02 -1.49681275e-03 2.16766156e+02] [-1.07332460e-02 9.99942381e-01 1.76808875e-04 -1.73955482e+01] [ 1.49862428e-03 -1.60732833e-04 9.99998864e-01 -4.64375608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68241403699997 meters 0.0928506745904922 Centerline is valid? [True, True] Translation: X:216.82, Y:-17.41, Z:-4.65 [[ 9.99929101e-01 1.17233120e-02 -2.08749029e-03 2.16822607e+02] [-1.17228222e-02 9.99931255e-01 2.46716873e-04 -1.74072416e+01] [ 2.09023913e-03 -2.22228103e-04 9.99997791e-01 -4.64586257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74241403699997 meters 0.09111092202640847 Centerline is valid? [True, True] Translation: X:216.88, Y:-17.41, Z:-4.65 [[ 9.99902022e-01 1.35400880e-02 -3.55153541e-03 2.16882206e+02] [-1.35386691e-02 9.99908258e-01 4.23258072e-04 -1.74133648e+01] [ 3.55694054e-03 -3.75133539e-04 9.99993604e-01 -4.64761215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80241403699998 meters 0.09327939811954758 Centerline is valid? [True, True] Translation: X:216.94, Y:-17.42, Z:-4.65 [[ 9.99846033e-01 1.68553276e-02 -4.87932156e-03 2.16940718e+02] [-1.68526884e-02 9.99857814e-01 5.81497344e-04 -1.74248439e+01] [ 4.88842912e-03 -4.99178126e-04 9.99987927e-01 -4.65178266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86241403699998 meters 0.09313513576980045 Centerline is valid? [True, True] Translation: X:217.00, Y:-17.43, Z:-4.65 [[ 9.99813177e-01 1.89168015e-02 -3.97055643e-03 2.17000248e+02] [-1.89150686e-02 9.99820982e-01 4.73520461e-04 -1.74323900e+01] [ 3.97880312e-03 -3.98328649e-04 9.99992005e-01 -4.65370155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92241403699998 meters 0.09199543465165386 Centerline is valid? [True, True] Translation: X:217.06, Y:-17.44, Z:-4.65 [[ 9.99773784e-01 2.11252011e-02 -2.47110115e-03 2.17060723e+02] [-2.11245368e-02 9.99776809e-01 2.94617984e-04 -1.74394986e+01] [ 2.47677348e-03 -2.42350470e-04 9.99996903e-01 -4.65401047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98241403699998 meters 0.09040977031643965 Centerline is valid? [True, True] Translation: X:217.12, Y:-17.44, Z:-4.65 [[ 9.99756669e-01 2.18613931e-02 -2.94641367e-03 2.17119856e+02] [-2.18604559e-02 9.99760970e-01 3.49888552e-04 -1.74444889e+01] [ 2.95335845e-03 -2.85393467e-04 9.99995598e-01 -4.65464673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042414037 meters 0.09037507421092233 Centerline is valid? [True, True] Translation: X:217.18, Y:-17.45, Z:-4.66 [[ 9.99750507e-01 2.18930915e-02 -4.42911739e-03 2.17178265e+02] [-2.18909745e-02 9.99760226e-01 5.25890545e-04 -1.74523611e+01] [ 4.43956877e-03 -4.28801642e-04 9.99990053e-01 -4.65572561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102414037 meters 0.09127089123693732 Centerline is valid? [True, True] Translation: X:217.24, Y:-17.46, Z:-4.66 [[ 9.99740185e-01 2.21378509e-02 -5.42932415e-03 2.17235503e+02] [-2.21346791e-02 9.99754791e-01 6.43603979e-04 -1.74615587e+01] [ 5.44224084e-03 -5.23260414e-04 9.99985054e-01 -4.65930844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162414037 meters 0.0918279215888291 Centerline is valid? [True, True] Translation: X:217.29, Y:-17.47, Z:-4.66 [[ 9.99743770e-01 2.18445650e-02 -5.93378046e-03 2.17293704e+02] [-2.18407666e-02 9.99761214e-01 7.04184815e-04 -1.74691827e+01] [ 5.94774616e-03 -5.74406068e-04 9.99982147e-01 -4.66115429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222414037 meters 0.09034751925456577 Centerline is valid? [True, True] Translation: X:217.35, Y:-17.47, Z:-4.66 [[ 9.99786111e-01 2.00505094e-02 -5.07046831e-03 2.17353248e+02] [-2.00477107e-02 9.99798843e-01 6.02189363e-04 -1.74738619e+01] [ 5.08152255e-03 -5.00409280e-04 9.99986964e-01 -4.66101687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282414037 meters 0.09465742669165936 Centerline is valid? [True, True] Translation: X:217.41, Y:-17.49, Z:-4.66 [[ 9.99829522e-01 1.81104809e-02 -3.59685692e-03 2.17409731e+02] [-1.81090653e-02 9.99835927e-01 4.25733890e-04 -1.74905625e+01] [ 3.60397702e-03 -3.60525595e-04 9.99993441e-01 -4.66381726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342414037 meters 0.09434558242392897 Centerline is valid? [True, True] Translation: X:217.47, Y:-17.50, Z:-4.66 [[ 9.99845293e-01 1.71768326e-02 -3.78758349e-03 2.17469121e+02] [-1.71752529e-02 9.99852394e-01 4.49222687e-04 -1.74976497e+01] [ 3.79474064e-03 -3.84100485e-04 9.99992726e-01 -4.66428363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40241403699997 meters 0.09310718702048745 Centerline is valid? [True, True] Translation: X:217.53, Y:-17.50, Z:-4.67 [[ 9.99857599e-01 1.58887947e-02 -5.68581673e-03 2.17528670e+02] [-1.58852094e-02 9.99873594e-01 6.75177400e-04 -1.75027246e+01] [ 5.69582577e-03 -5.84760864e-04 9.99983608e-01 -4.66561554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46241403699997 meters 0.09378809537873523 Centerline is valid? [True, True] Translation: X:217.59, Y:-17.51, Z:-4.67 [[ 9.99865229e-01 1.52309497e-02 -6.12713040e-03 2.17586793e+02] [-1.52267850e-02 9.99883802e-01 7.25789912e-04 -1.75115956e+01] [ 6.13747291e-03 -6.32395599e-04 9.99980966e-01 -4.66836286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52241403699998 meters 0.09820313631273184 Centerline is valid? [True, True] Translation: X:217.64, Y:-17.53, Z:-4.67 [[ 9.99884865e-01 1.40569214e-02 -5.71486674e-03 2.17643432e+02] [-1.40532822e-02 9.99901019e-01 6.76466554e-04 -1.75273693e+01] [ 5.72381011e-03 -5.96076034e-04 9.99983441e-01 -4.67228543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58241403699998 meters 0.0910311388050143 Centerline is valid? [True, True] Translation: X:217.70, Y:-17.52, Z:-4.67 [[ 9.99906405e-01 1.23762546e-02 -5.83182554e-03 2.17704413e+02] [-1.23724291e-02 9.99923219e-01 6.91601246e-04 -1.75214736e+01] [ 5.83993720e-03 -6.19382668e-04 9.99982756e-01 -4.66930331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64241403699998 meters 0.0964012155928195 Centerline is valid? [True, True] Translation: X:217.76, Y:-17.54, Z:-4.67 [[ 9.99911560e-01 1.19223395e-02 -5.89323790e-03 2.17760996e+02] [-1.19184394e-02 9.99928730e-01 6.96464808e-04 -1.75372262e+01] [ 5.90112138e-03 -6.26165013e-04 9.99982392e-01 -4.67347354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70241403699998 meters 0.09260372772155945 Centerline is valid? [True, True] Translation: X:217.82, Y:-17.54, Z:-4.67 [[ 9.99916527e-01 1.19664467e-02 -4.87266924e-03 2.17820081e+02] [-1.19637824e-02 9.99928266e-01 5.75561998e-04 -1.75355354e+01] [ 4.87920713e-03 -5.17218399e-04 9.99987963e-01 -4.67304136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76241403699999 meters 0.09633700214580401 Centerline is valid? [True, True] Translation: X:217.88, Y:-17.55, Z:-4.68 [[ 9.99909308e-01 1.28519858e-02 -4.02517265e-03 2.17877546e+02] [-1.28501733e-02 9.99917320e-01 4.75832248e-04 -1.75477377e+01] [ 4.03095524e-03 -4.24064927e-04 9.99991786e-01 -4.67629522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822414037 meters 0.09587166500208055 Centerline is valid? [True, True] Translation: X:217.94, Y:-17.55, Z:-4.68 [[ 9.99872840e-01 1.54615020e-02 -3.90470986e-03 2.17937843e+02] [-1.54598124e-02 9.99880383e-01 4.62518762e-04 -1.75506742e+01] [ 3.91139402e-03 -4.02093866e-04 9.99992270e-01 -4.67802680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882414037 meters 0.09262188257454096 Centerline is valid? [True, True] Translation: X:218.00, Y:-17.55, Z:-4.68 [[ 9.99807961e-01 1.86841305e-02 -5.91129536e-03 2.17998663e+02] [-1.86803138e-02 9.99825263e-01 7.00225634e-04 -1.75465380e+01] [ 5.92334555e-03 -5.89666312e-04 9.99982283e-01 -4.67987895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942414037 meters 0.09093041144316082 Centerline is valid? [True, True] Translation: X:218.06, Y:-17.55, Z:-4.68 [[ 9.99752891e-01 2.12723080e-02 -6.45334681e-03 2.18059353e+02] [-2.12678130e-02 9.99773522e-01 7.64378076e-04 -1.75462941e+01] [ 6.46814536e-03 -6.26940618e-04 9.99978885e-01 -4.68152829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002414037 meters 0.09117299020668235 Centerline is valid? [True, True] Translation: X:218.12, Y:-17.55, Z:-4.68 [[ 9.99687130e-01 2.44015313e-02 -5.49614228e-03 2.18118546e+02] [-2.43983248e-02 9.99702105e-01 6.49729030e-04 -1.75476330e+01] [ 5.51035939e-03 -5.15429085e-04 9.99984685e-01 -4.68303921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062414037 meters 0.09041711532298369 Centerline is valid? [True, True] Translation: X:218.18, Y:-17.55, Z:-4.68 [[ 9.99678167e-01 2.47942455e-02 -5.36736565e-03 2.18177690e+02] [-2.47911990e-02 9.99692450e-01 6.33391652e-04 -1.75487381e+01] [ 5.38141939e-03 -5.00124376e-04 9.99985395e-01 -4.68333285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122414037 meters 0.09264155750056222 Centerline is valid? [True, True] Translation: X:218.24, Y:-17.55, Z:-4.68 [[ 9.99732007e-01 2.27521316e-02 -4.27252469e-03 2.18236276e+02] [-2.27501770e-02 9.99741053e-01 5.05530289e-04 -1.75542465e+01] [ 4.28292022e-03 -4.08194118e-04 9.99990745e-01 -4.68456736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18241403699997 meters 0.09150788681516023 Centerline is valid? [True, True] Translation: X:218.30, Y:-17.56, Z:-4.68 [[ 9.99811113e-01 1.88232988e-02 -4.83958361e-03 2.18296682e+02] [-1.88207471e-02 9.99822710e-01 5.72245985e-04 -1.75550405e+01] [ 4.84949716e-03 -4.81053316e-04 9.99988125e-01 -4.68424539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24241403699997 meters 0.09560932032002797 Centerline is valid? [True, True] Translation: X:218.36, Y:-17.57, Z:-4.69 [[ 9.99889955e-01 1.34648580e-02 -6.22703162e-03 2.18355189e+02] [-1.34605280e-02 9.99909132e-01 7.36741259e-04 -1.75664334e+01] [ 6.23638589e-03 -6.52841051e-04 9.99980340e-01 -4.68801667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30241403699998 meters 0.09702424882483592 Centerline is valid? [True, True] Translation: X:218.42, Y:-17.57, Z:-4.69 [[ 9.99933783e-01 1.01078612e-02 -5.50099797e-03 2.18415215e+02] [-1.01044312e-02 9.99948737e-01 6.50950736e-04 -1.75737166e+01] [ 5.50729569e-03 -5.95323176e-04 9.99984658e-01 -4.69021590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36241403699998 meters 0.09865955990291882 Centerline is valid? [True, True] Translation: X:218.48, Y:-17.58, Z:-4.69 [[ 9.99968413e-01 5.57081411e-03 -5.66909631e-03 2.18475292e+02] [-5.56710080e-03 9.99984279e-01 6.70577478e-04 -1.75792527e+01] [ 5.67274285e-03 -6.38995866e-04 9.99983706e-01 -4.69144569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42241403699998 meters 0.10096602222129276 Centerline is valid? [True, False] Translation: X:218.47, Y:-17.58, Z:-4.69 [[ 9.99971984e-01 4.96985283e-03 -5.59741798e-03 2.18474996e+02] [-4.97185319e-03 9.99987581e-01 -3.43513967e-04 -1.75765198e+01] [ 5.59564125e-03 3.71333884e-04 9.99984275e-01 -4.69119126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48241403699998 meters 0.095841684172257 Centerline is valid? [False, True] Translation: X:218.47, Y:-17.57, Z:-4.69 [[ 9.99974692e-01 4.02812836e-03 -5.86418206e-03 2.18474993e+02] [-4.04171467e-03 9.99989171e-01 -2.30682643e-03 -1.75711687e+01] [ 5.85482637e-03 2.33046940e-03 9.99980145e-01 -4.69035316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542414037 meters 0.10393774973194293 Centerline is valid? [True, False] Translation: X:218.48, Y:-17.57, Z:-4.69 [[ 9.99972809e-01 3.90101071e-03 -6.25803555e-03 2.18476100e+02] [-3.92009929e-03 9.99987693e-01 -3.04088950e-03 -1.75680140e+01] [ 6.24609599e-03 3.06533894e-03 9.99975795e-01 -4.69084072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602414037 meters 0.09521991281893238 Centerline is valid? [False, True] Translation: X:218.48, Y:-17.56, Z:-4.69 [[ 9.99966313e-01 4.28541726e-03 -7.00055087e-03 2.18478533e+02] [-4.30959638e-03 9.99984788e-01 -3.44246234e-03 -1.75644552e+01] [ 6.98569199e-03 3.47251592e-03 9.99969570e-01 -4.69237073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662414037 meters 0.09615618042714466 Centerline is valid? [True, True] Translation: X:218.54, Y:-17.57, Z:-4.70 [[ 9.99954928e-01 6.03785253e-03 -7.32703880e-03 2.18536852e+02] [-6.03194619e-03 9.99981465e-01 8.27932653e-04 -1.75717542e+01] [ 7.33190193e-03 -7.83699033e-04 9.99972814e-01 -4.69689342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722414037 meters 0.09735253255699383 Centerline is valid? [True, True] Translation: X:218.60, Y:-17.58, Z:-4.70 [[ 9.99964472e-01 5.87584557e-03 -6.04395885e-03 2.18595365e+02] [-5.87183218e-03 9.99982528e-01 6.81564141e-04 -1.75784633e+01] [ 6.04785801e-03 -6.46050814e-04 9.99981503e-01 -4.69769143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782414037 meters 0.0943499545893433 Centerline is valid? [True, True] Translation: X:218.66, Y:-17.58, Z:-4.70 [[ 9.99979861e-01 2.77237070e-03 -5.70890146e-03 2.18655688e+02] [-2.76873402e-03 9.99995959e-01 6.44824728e-04 -1.75798325e+01] [ 5.71066608e-03 -6.29005312e-04 9.99983496e-01 -4.69579302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842414037 meters 0.09803824525945472 Centerline is valid? [True, True] Translation: X:218.71, Y:-17.59, Z:-4.70 [[ 9.99983926e-01 -2.13303940e-05 -5.66980795e-03 2.18714157e+02] [ 2.49639716e-05 9.99999794e-01 6.40794327e-04 -1.75937229e+01] [ 5.66979311e-03 -6.40925568e-04 9.99983721e-01 -4.69846822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90241403699997 meters 0.10121774796751493 Centerline is valid? [True, False] Translation: X:218.71, Y:-17.59, Z:-4.70 [[ 9.99986598e-01 -2.09564740e-04 -5.17295801e-03 2.18713424e+02] [ 2.14154181e-04 9.99999584e-01 8.86660533e-04 -1.75945436e+01] [ 5.17277004e-03 -8.87756460e-04 9.99986227e-01 -4.69886167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96241403699997 meters 0.10284956236867318 Centerline is valid? [False, False] Translation: X:218.71, Y:-17.59, Z:-4.70 [[ 9.99986620e-01 -3.01903807e-04 -5.16416672e-03 2.18713482e+02] [ 3.05932158e-04 9.99999650e-01 7.79286051e-04 -1.75940093e+01] [ 5.16392964e-03 -7.80855509e-04 9.99986362e-01 -4.69899441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.022414037 meters 0.10399878545066116 Centerline is valid? [False, False] Translation: X:218.71, Y:-17.59, Z:-4.70 [[ 9.99986313e-01 -1.79802632e-04 -5.22894390e-03 2.18713697e+02] [ 1.84679004e-04 9.99999549e-01 9.32105116e-04 -1.75940992e+01] [ 5.22877394e-03 -9.33058034e-04 9.99985895e-01 -4.69910646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.082414037 meters 0.09781990782244229 Centerline is valid? [False, True] Translation: X:218.71, Y:-17.59, Z:-4.70 [[ 9.99986968e-01 -3.02488746e-04 -5.09636014e-03 2.18713078e+02] [ 3.07066785e-04 9.99999550e-01 8.97537258e-04 -1.75945556e+01] [ 5.09608635e-03 -8.99090484e-04 9.99986611e-01 -4.69858138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.142414037 meters 0.10163764073566865 Centerline is valid? [True, False] Translation: X:218.71, Y:-17.60, Z:-4.70 [[ 9.99986124e-01 3.28178453e-05 -5.26791689e-03 2.18713548e+02] [-2.61047776e-05 9.99999188e-01 1.27439430e-03 -1.75952317e+01] [ 5.26795443e-03 -1.27423910e-03 9.99985312e-01 -4.69873591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.202414037 meters 0.1007314614602384 Centerline is valid? [False, False] Translation: X:218.71, Y:-17.60, Z:-4.70 [[ 9.99985879e-01 2.69295818e-04 -5.30755285e-03 2.18713831e+02] [-2.60442055e-04 9.99998574e-01 1.66876473e-03 -1.75963560e+01] [ 5.30799467e-03 -1.66735885e-03 9.99984522e-01 -4.69904294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.262414037 meters 0.09895858169105794 Centerline is valid? [False, True] Translation: X:218.71, Y:-17.60, Z:-4.70 [[ 9.99985785e-01 4.36276430e-04 -5.31409336e-03 2.18713770e+02] [-4.25697287e-04 9.99997926e-01 1.99173935e-03 -1.75976749e+01] [ 5.31495129e-03 -1.98944884e-03 9.99983897e-01 -4.69891653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322414037 meters 0.09718523236063328 Centerline is valid? [True, True] Translation: X:218.77, Y:-17.60, Z:-4.70 [[ 9.99982230e-01 1.33654548e-03 -5.80973873e-03 2.18772620e+02] [-1.33267707e-03 9.99998888e-01 6.69669604e-04 -1.76022510e+01] [ 5.81062731e-03 -6.61915198e-04 9.99982899e-01 -4.69896694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382414037 meters 0.09729898608247325 Centerline is valid? [True, True] Translation: X:218.83, Y:-17.61, Z:-4.70 [[ 9.99981981e-01 1.32757220e-03 -5.85457786e-03 2.18830990e+02] [-1.32364598e-03 9.99998897e-01 6.74448382e-04 -1.76094268e+01] [ 5.85546678e-03 -6.66686840e-04 9.99982634e-01 -4.70142107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442414037 meters 0.09744115558481868 Centerline is valid? [True, True] Translation: X:218.89, Y:-17.62, Z:-4.70 [[ 9.99984433e-01 2.44535290e-03 -5.01538141e-03 2.18889974e+02] [-2.44248305e-03 9.99996850e-01 5.78253534e-04 -1.76180928e+01] [ 5.01677965e-03 -5.65994549e-04 9.99987256e-01 -4.70188560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502414037 meters 0.09289657504349653 Centerline is valid? [True, True] Translation: X:218.95, Y:-17.62, Z:-4.70 [[ 9.99978322e-01 2.01585087e-03 -6.26836060e-03 2.18949164e+02] [-2.01136711e-03 9.99997717e-01 7.21521597e-04 -1.76184301e+01] [ 6.26980077e-03 -7.08897981e-04 9.99980093e-01 -4.70093577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562414037 meters 0.09593922372455817 Centerline is valid? [True, True] Translation: X:219.01, Y:-17.63, Z:-4.70 [[ 9.99989522e-01 9.13218779e-05 -4.57682428e-03 2.19007245e+02] [-8.89078921e-05 9.99999857e-01 5.27637525e-04 -1.76328774e+01] [ 4.57687181e-03 -5.27225081e-04 9.99989387e-01 -4.70365084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622414037 meters 0.09858806822721618 Centerline is valid? [True, True] Translation: X:219.07, Y:-17.65, Z:-4.71 [[ 9.99983193e-01 -9.60189157e-04 -5.71770561e-03 2.19065132e+02] [ 9.63970567e-04 9.99999318e-01 6.58631810e-04 -1.76452768e+01] [ 5.71706930e-03 -6.64132441e-04 9.99983437e-01 -4.70680286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682414037 meters 0.10780641009904154 Centerline is valid? [True, False] Translation: X:219.07, Y:-17.65, Z:-4.71 [[ 9.99985387e-01 -4.55967443e-04 -5.38687862e-03 2.19065210e+02] [ 4.65875041e-04 9.99998202e-01 1.83809783e-03 -1.76481155e+01] [ 5.38603083e-03 -1.84058058e-03 9.99983801e-01 -4.70789898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742414037 meters 0.10218068187187308 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.65, Z:-4.71 [[ 9.99989142e-01 -1.02788557e-03 -4.54528866e-03 2.19062876e+02] [ 1.03670945e-03 9.99997582e-01 1.93939607e-03 -1.76505617e+01] [ 4.54328419e-03 -1.94408716e-03 9.99987789e-01 -4.70678561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802414037 meters 0.1068733195516902 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.65, Z:-4.71 [[ 9.99991499e-01 -9.20812136e-04 -4.01913300e-03 2.19061798e+02] [ 9.31835557e-04 9.99995807e-01 2.74172568e-03 -1.76533333e+01] [ 4.01659153e-03 -2.74544755e-03 9.99988165e-01 -4.70665687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862414037 meters 0.11082335393322297 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.66, Z:-4.71 [[ 9.99981032e-01 -4.71801462e-03 -3.95934019e-03 2.19061534e+02] [ 4.71623411e-03 9.99988773e-01 -4.58913665e-04 -1.76566493e+01] [ 3.96146090e-03 4.40231785e-04 9.99992056e-01 -4.70636118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922414037 meters 0.10999193536906653 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.66, Z:-4.71 [[ 9.99984326e-01 -4.11903723e-03 -3.79214430e-03 2.19061608e+02] [ 4.12201230e-03 9.99991203e-01 7.77056034e-04 -1.76596813e+01] [ 3.78891022e-03 -7.92675120e-04 9.99992508e-01 -4.70695926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982414037 meters 0.11675459082913617 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.66, Z:-4.71 [[ 9.99987304e-01 -3.45790412e-03 -3.66529376e-03 2.19061631e+02] [ 3.46552729e-03 9.99991841e-01 2.07551918e-03 -1.76630804e+01] [ 3.65808691e-03 -2.08819501e-03 9.99991129e-01 -4.70735139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04241403699996 meters 0.11908649301733178 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.66, Z:-4.71 [[ 9.99987866e-01 -3.30210841e-03 -3.65575435e-03 2.19061401e+02] [ 3.31107481e-03 9.99991519e-01 2.44935151e-03 -1.76644798e+01] [ 3.64763532e-03 -2.46142626e-03 9.99990318e-01 -4.70705762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10241403699996 meters 0.12002353652665852 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99989036e-01 -2.90098130e-03 -3.67578306e-03 2.19061530e+02] [ 2.91254355e-03 9.99990816e-01 3.14408131e-03 -1.76664113e+01] [ 3.66662838e-03 -3.15475272e-03 9.99988302e-01 -4.70715640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16241403699996 meters 0.10484791555649145 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99989935e-01 -2.22237085e-03 -3.89761465e-03 2.19062406e+02] [ 2.23829279e-03 9.99989149e-01 4.08545538e-03 -1.76685842e+01] [ 3.88849296e-03 -4.09413826e-03 9.99984059e-01 -4.70778740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22241403699996 meters 0.10236174728793922 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99989598e-01 -1.87645258e-03 -4.15715578e-03 2.19063324e+02] [ 1.89475519e-03 9.99988511e-01 4.40312213e-03 -1.76689477e+01] [ 4.14884577e-03 -4.41095312e-03 9.99981665e-01 -4.70837907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28241403699997 meters 0.10253369741410365 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99989083e-01 -1.87817379e-03 -4.27860092e-03 2.19063427e+02] [ 1.89656849e-03 9.99988960e-01 4.29923853e-03 -1.76688975e+01] [ 4.27047896e-03 -4.30730625e-03 9.99981605e-01 -4.70818055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34241403699997 meters 0.10180974421892663 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99988973e-01 -1.95892169e-03 -4.26796911e-03 2.19063116e+02] [ 1.97673590e-03 9.99989336e-01 4.17372033e-03 -1.76690622e+01] [ 4.25974760e-03 -4.18211096e-03 9.99982182e-01 -4.70771924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40241403699997 meters 0.09949711305916577 Centerline is valid? [False, True] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99989519e-01 -2.07100457e-03 -4.08319441e-03 2.19062267e+02] [ 2.08814755e-03 9.99989005e-01 4.19864190e-03 -1.76699538e+01] [ 4.07445411e-03 -4.20712420e-03 9.99982849e-01 -4.70696151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.462414037 meters 0.10220685343140981 Centerline is valid? [True, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99973479e-01 -5.71749218e-03 -4.51135379e-03 2.19063578e+02] [ 5.72038932e-03 9.99983440e-01 6.29546840e-04 -1.76706541e+01] [ 4.50767965e-03 -6.55336844e-04 9.99989626e-01 -4.70757917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.522414037 meters 0.10146825296683434 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.67, Z:-4.71 [[ 9.99977006e-01 -5.70018374e-03 -3.67362609e-03 2.19061956e+02] [ 5.70657273e-03 9.99982219e-01 1.73102178e-03 -1.76748949e+01] [ 3.66369363e-03 -1.75194579e-03 9.99991754e-01 -4.70757658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.582414037 meters 0.10685979576351715 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.68, Z:-4.71 [[ 9.99981626e-01 -5.15724693e-03 -3.18586977e-03 2.19061662e+02] [ 5.16816386e-03 9.99980769e-01 3.42799705e-03 -1.76795843e+01] [ 3.16812947e-03 -3.44439917e-03 9.99989049e-01 -4.70867969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.642414037 meters 0.10249626914228725 Centerline is valid? [False, False] Translation: X:219.06, Y:-17.68, Z:-4.71 [[ 9.99983906e-01 -4.97001478e-03 -2.73618361e-03 2.19060898e+02] [ 4.98156465e-03 9.99978643e-01 4.23065586e-03 -1.76822083e+01] [ 2.71509875e-03 -4.24421824e-03 9.99987307e-01 -4.70881204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.702414037 meters 0.10555704905512467 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.69, Z:-4.71 [[ 9.99991418e-01 -1.62886931e-03 3.80930389e-03 2.19051528e+02] [ 1.62229315e-03 9.99997190e-01 1.72879571e-03 -1.76873842e+01] [-3.81210917e-03 -1.72260107e-03 9.99991250e-01 -4.71161365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.762414037 meters 0.10710258133810925 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.69, Z:-4.71 [[ 9.99992655e-01 -1.08488396e-03 3.67595981e-03 2.19051557e+02] [ 1.07517761e-03 9.99995933e-01 2.64144371e-03 -1.76901218e+01] [-3.67881053e-03 -2.63747200e-03 9.99989755e-01 -4.71131389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822414037 meters 0.10639693425125742 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.69, Z:-4.71 [[ 9.99993938e-01 -5.54310581e-04 3.43760890e-03 2.19052186e+02] [ 5.42655398e-04 9.99994105e-01 3.39049759e-03 -1.76916802e+01] [-3.43946803e-03 -3.38861160e-03 9.99988344e-01 -4.71158309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882414037 meters 0.10783903110709085 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.70, Z:-4.71 [[ 9.99994385e-01 1.33057637e-04 3.34844713e-03 2.19052428e+02] [-1.48533613e-04 9.99989307e-01 4.62201241e-03 -1.76950812e+01] [-3.34779633e-03 -4.62248382e-03 9.99983712e-01 -4.71173340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942414037 meters 0.10970311418656745 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.70, Z:-4.71 [[ 9.99994444e-01 9.90326679e-04 3.18294523e-03 2.19053031e+02] [-1.00954298e-03 9.99981241e-01 6.04134334e-03 -1.76988916e+01] [-3.17690261e-03 -6.04452309e-03 9.99976685e-01 -4.71224157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002414037 meters 0.10686599889583563 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.70, Z:-4.71 [[ 9.99993566e-01 -2.56803916e-03 2.50455698e-03 2.19054463e+02] [ 2.56195275e-03 9.99993765e-01 2.43032260e-03 -1.76997209e+01] [-2.51078252e-03 -2.42389041e-03 9.99993910e-01 -4.71252675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062414037 meters 0.1107582871781129 Centerline is valid? [False, False] Translation: X:219.05, Y:-17.70, Z:-4.71 [[ 9.99995355e-01 -2.22041147e-03 2.08801458e-03 2.19054802e+02] [ 2.21453722e-03 9.99993596e-01 2.81143405e-03 -1.77010883e+01] [-2.09424375e-03 -2.80679701e-03 9.99993868e-01 -4.71187225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122414037 meters 0.09467629209567537 Centerline is valid? [False, True] Translation: X:219.06, Y:-17.70, Z:-4.71 [[ 9.99997567e-01 -1.77438294e-03 1.31069023e-03 2.19055785e+02] [ 1.77049500e-03 9.99994047e-01 2.96155574e-03 -1.77015117e+01] [-1.31593736e-03 -2.95922796e-03 9.99994756e-01 -4.71119029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182414037 meters 0.09266712304997632 Centerline is valid? [True, True] Translation: X:219.12, Y:-17.70, Z:-4.71 [[ 9.99996634e-01 2.35894281e-03 1.08000272e-03 2.19116603e+02] [-2.35881552e-03 9.99997211e-01 -1.19122350e-04 -1.77042490e+01] [-1.08028071e-03 1.16574422e-04 9.99999410e-01 -4.71189105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242414037 meters 0.08924823056389793 Centerline is valid? [True, True] Translation: X:219.18, Y:-17.71, Z:-4.71 [[ 9.99984340e-01 5.59463986e-03 -1.42347463e-04 2.19177299e+02] [-5.59463769e-03 9.99984350e-01 1.55981851e-05 -1.77067926e+01] [ 1.42432502e-04 -1.48015583e-05 9.99999990e-01 -4.71215963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302414037 meters 0.09008038363687086 Centerline is valid? [True, True] Translation: X:219.24, Y:-17.72, Z:-4.72 [[ 9.99979675e-01 6.37221057e-03 2.10656355e-04 2.19235875e+02] [-6.37220542e-03 9.99979697e-01 -2.50793461e-05 -1.77156840e+01] [-2.10811889e-04 2.37364908e-05 9.99999977e-01 -4.71521934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362414037 meters 0.08910093646753112 Centerline is valid? [True, True] Translation: X:219.30, Y:-17.72, Z:-4.72 [[ 9.99964203e-01 8.40956597e-03 -9.34219358e-04 2.19295840e+02] [-8.40947467e-03 9.99964635e-01 1.01616420e-04 -1.77222344e+01] [ 9.35040869e-04 -9.37564887e-05 9.99999558e-01 -4.71721218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422414037 meters 0.08986387529761433 Centerline is valid? [True, True] Translation: X:219.36, Y:-17.73, Z:-4.72 [[ 9.99949148e-01 1.00200686e-02 -1.13999781e-03 2.19355109e+02] [-1.00199324e-02 9.99949791e-01 1.25109215e-04 -1.77308303e+01] [ 1.14119418e-03 -1.13680152e-04 9.99999342e-01 -4.71957965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482414037 meters 0.08814020965035206 Centerline is valid? [True, True] Translation: X:219.42, Y:-17.73, Z:-4.72 [[ 9.99912463e-01 1.30248911e-02 -2.32774905e-03 2.19415427e+02] [-1.30243288e-02 9.99915147e-01 2.56565274e-04 -1.77340036e+01] [ 2.33089326e-03 -2.26225446e-04 9.99997258e-01 -4.71968252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54241403699996 meters 0.08916808617773464 Centerline is valid? [True, True] Translation: X:219.47, Y:-17.74, Z:-4.72 [[ 9.99882193e-01 1.51039957e-02 -2.73294844e-03 2.19473679e+02] [-1.51032314e-02 9.99885895e-01 3.00074039e-04 -1.77422937e+01] [ 2.73716891e-03 -2.58762335e-04 9.99996220e-01 -4.72260747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60241403699996 meters 0.09016050585201157 Centerline is valid? [True, True] Translation: X:219.53, Y:-17.75, Z:-4.72 [[ 9.99880774e-01 1.50811635e-02 -3.31612505e-03 2.19532028e+02] [-1.50800419e-02 9.99886224e-01 3.62979457e-04 -1.77500031e+01] [ 3.32122190e-03 -3.12928875e-04 9.99994436e-01 -4.72448761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66241403699996 meters 0.09165660271229988 Centerline is valid? [True, True] Translation: X:219.59, Y:-17.76, Z:-4.73 [[ 9.99900485e-01 1.37745570e-02 -3.04666221e-03 2.19590408e+02] [-1.37736034e-02 9.99905084e-01 3.33741825e-04 -1.77585888e+01] [ 3.05097018e-03 -2.91745096e-04 9.99995303e-01 -4.72711530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72241403699996 meters 0.08851672761804841 Centerline is valid? [True, True] Translation: X:219.65, Y:-17.76, Z:-4.73 [[ 9.99923073e-01 1.17768590e-02 -3.89270013e-03 2.19650979e+02] [-1.17752823e-02 9.99930577e-01 4.27719638e-04 -1.77593503e+01] [ 3.89746708e-03 -3.81849092e-04 9.99992332e-01 -4.72755354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78241403699997 meters 0.09125454667435355 Centerline is valid? [True, True] Translation: X:219.71, Y:-17.77, Z:-4.73 [[ 9.99951561e-01 8.65564010e-03 -4.68563205e-03 2.19709334e+02] [-8.65331997e-03 9.99962427e-01 5.15207314e-04 -1.77705409e+01] [ 4.68991545e-03 -4.74636084e-04 9.99988890e-01 -4.72993386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84241403699997 meters 0.09420970979808348 Centerline is valid? [True, True] Translation: X:219.77, Y:-17.78, Z:-4.73 [[ 9.99971480e-01 5.68411547e-03 -4.97285556e-03 2.19767823e+02] [-5.68146606e-03 9.99983711e-01 5.46738307e-04 -1.77816351e+01] [ 4.97588228e-03 -5.18469605e-04 9.99987486e-01 -4.73235924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90241403699997 meters 0.09633845507332862 Centerline is valid? [True, True] Translation: X:219.83, Y:-17.79, Z:-4.73 [[ 9.99990498e-01 1.72535451e-03 -4.00326209e-03 2.19827494e+02] [-1.72360673e-03 9.99998418e-01 4.39997608e-04 -1.77892526e+01] [ 4.00401491e-03 -4.33093377e-04 9.99991890e-01 -4.73270164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.962414037 meters 0.09030360843276894 Centerline is valid? [True, True] Translation: X:219.89, Y:-17.78, Z:-4.73 [[ 9.99994251e-01 -1.74314590e-03 -2.90838512e-03 2.19888629e+02] [ 1.74408376e-03 9.99998428e-01 3.19960629e-04 -1.77829309e+01] [ 2.90782281e-03 -3.25031257e-04 9.99995719e-01 -4.72965631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.022414037 meters 0.0916238268967552 Centerline is valid? [True, True] Translation: X:219.95, Y:-17.79, Z:-4.73 [[ 9.99991011e-01 -2.98183713e-03 -3.01430426e-03 2.19947645e+02] [ 2.98284630e-03 9.99995497e-01 3.30355068e-04 -1.77898377e+01] [ 3.01330563e-03 -3.39343304e-04 9.99995402e-01 -4.73218727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.082414037 meters 0.09225066100906144 Centerline is valid? [True, True] Translation: X:220.01, Y:-17.80, Z:-4.73 [[ 9.99994525e-01 -2.76089800e-03 -1.82407770e-03 2.20007970e+02] [ 2.76126855e-03 9.99996168e-01 2.00657473e-04 -1.77951384e+01] [ 1.82351671e-03 -2.05693143e-04 9.99998316e-01 -4.73493361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.142414037 meters 0.0945381333243428 Centerline is valid? [True, True] Translation: X:220.07, Y:-17.80, Z:-4.74 [[ 9.99994338e-01 -1.96262902e-03 -2.73366416e-03 2.20066905e+02] [ 1.96345654e-03 9.99998027e-01 3.00065226e-04 -1.78021798e+01] [ 2.73306985e-03 -3.05430958e-04 9.99996219e-01 -4.73865846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.202414037 meters 0.0899328060170781 Centerline is valid? [True, True] Translation: X:220.13, Y:-17.80, Z:-4.74 [[ 9.99996237e-01 -9.24246479e-04 -2.58290967e-03 2.20127454e+02] [ 9.24979841e-04 9.99999532e-01 2.82748668e-04 -1.77970252e+01] [ 2.58264713e-03 -2.85136743e-04 9.99996624e-01 -4.73884458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.262414037 meters 0.0897138297138035 Centerline is valid? [True, True] Translation: X:220.19, Y:-17.80, Z:-4.74 [[ 9.99999065e-01 3.73013059e-04 -1.31549108e-03 2.20187869e+02] [-3.72823952e-04 9.99999920e-01 1.43995934e-04 -1.78001150e+01] [ 1.31554469e-03 -1.43505353e-04 9.99999124e-01 -4.74061200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322414037 meters 0.09210494342720546 Centerline is valid? [True, True] Translation: X:220.25, Y:-17.81, Z:-4.74 [[ 9.99996567e-01 4.71603288e-04 -2.57757025e-03 2.20246285e+02] [-4.70876146e-04 9.99999849e-01 2.82703346e-04 -1.78089846e+01] [ 2.57770318e-03 -2.81488659e-04 9.99996638e-01 -4.74369175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382414037 meters 0.09214839021826554 Centerline is valid? [True, True] Translation: X:220.31, Y:-17.81, Z:-4.75 [[ 9.99998543e-01 4.13769564e-04 -1.65597132e-03 2.20305873e+02] [-4.13470811e-04 9.99999898e-01 1.80747711e-04 -1.78136898e+01] [ 1.65604594e-03 -1.80062752e-04 9.99998613e-01 -4.74638019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442414037 meters 0.09452620264488928 Centerline is valid? [True, True] Translation: X:220.36, Y:-17.82, Z:-4.75 [[ 9.99998928e-01 -1.74101000e-05 -1.46418194e-03 2.20364317e+02] [ 1.76447710e-05 9.99999987e-01 1.60261729e-04 -1.78230073e+01] [ 1.46417913e-03 -1.60287393e-04 9.99998915e-01 -4.74895585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502414037 meters 0.09501432717381195 Centerline is valid? [True, True] Translation: X:220.42, Y:-17.83, Z:-4.75 [[ 9.99999648e-01 -4.02911843e-04 -7.36031849e-04 2.20423495e+02] [ 4.02970578e-04 9.99999916e-01 7.96530874e-05 -1.78287272e+01] [ 7.35999694e-04 -7.99496586e-05 9.99999726e-01 -4.75048084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562414037 meters 0.09365260684107461 Centerline is valid? [True, True] Translation: X:220.48, Y:-17.83, Z:-4.75 [[ 9.99998365e-01 -1.76850999e-03 3.76676024e-04 2.20483477e+02] [ 1.76852592e-03 9.99998435e-01 -4.19642213e-05 -1.78307758e+01] [-3.76601221e-04 4.26303140e-05 9.99999928e-01 -4.75199254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622414037 meters 0.0960839943958985 Centerline is valid? [True, True] Translation: X:220.54, Y:-17.84, Z:-4.75 [[ 9.99992891e-01 -2.94196520e-03 2.35856882e-03 2.20544141e+02] [ 2.94258154e-03 9.99995637e-01 -2.57892649e-04 -1.78405474e+01] [-2.35779982e-03 2.64831097e-04 9.99997185e-01 -4.75438525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682414037 meters 0.092313467860537 Centerline is valid? [True, True] Translation: X:220.61, Y:-17.84, Z:-4.75 [[ 9.99986046e-01 -3.41480230e-03 4.03080025e-03 2.20607217e+02] [ 3.41660562e-03 9.99994066e-01 -4.40584273e-04 -1.78399019e+01] [-4.02927182e-03 4.54349780e-04 9.99991779e-01 -4.75468228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742414037 meters 0.09387702864540065 Centerline is valid? [True, True] Translation: X:220.67, Y:-17.85, Z:-4.76 [[ 9.99986033e-01 -2.85624043e-03 4.44704514e-03 2.20668960e+02] [ 2.85843267e-03 9.99995796e-01 -4.86688102e-04 -1.78478469e+01] [-4.44563635e-03 4.99392884e-04 9.99989993e-01 -4.75785897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802414037 meters 0.09443292877697324 Centerline is valid? [True, True] Translation: X:220.73, Y:-17.85, Z:-4.76 [[ 9.99980636e-01 -3.04108694e-03 5.42954904e-03 2.20730855e+02] [ 3.04436263e-03 9.99995189e-01 -5.95144900e-04 -1.78524400e+01] [-5.42771303e-03 6.11662891e-04 9.99985083e-01 -4.76139608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862414037 meters 0.09797282010173883 Centerline is valid? [True, True] Translation: X:220.79, Y:-17.86, Z:-4.77 [[ 9.99969508e-01 -2.36567126e-03 7.44224807e-03 2.20790912e+02] [ 2.37182499e-03 9.99996853e-01 -8.18146805e-04 -1.78635833e+01] [-7.44028917e-03 8.35773568e-04 9.99971971e-01 -4.76540325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922414037 meters 0.09600334705488836 Centerline is valid? [True, True] Translation: X:220.85, Y:-17.86, Z:-4.77 [[ 9.99956781e-01 -2.06099197e-03 9.06575281e-03 2.20853537e+02] [ 2.07010842e-03 9.99997361e-01 -9.96322669e-04 -1.78638544e+01] [-9.06367547e-03 1.01504670e-03 9.99958409e-01 -4.76617142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982414037 meters 0.09509343213332767 Centerline is valid? [True, True] Translation: X:220.92, Y:-17.87, Z:-4.77 [[ 9.99946099e-01 -1.50396496e-03 1.02731756e-02 2.20915575e+02] [ 1.51565743e-03 9.99998212e-01 -1.13046458e-03 -1.78667325e+01] [-1.02714571e-02 1.14597426e-03 9.99946591e-01 -4.76748389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04241403699996 meters 0.10222159916624382 Centerline is valid? [True, False] Translation: X:220.92, Y:-17.86, Z:-4.77 [[ 9.99948221e-01 -1.58449613e-03 1.00521435e-02 2.20916556e+02] [ 1.60044194e-03 9.99997474e-01 -1.57846402e-03 -1.78645440e+01] [-1.00496170e-02 1.59447016e-03 9.99948230e-01 -4.76830765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10241403699996 meters 0.09601572628291534 Centerline is valid? [False, True] Translation: X:220.92, Y:-17.86, Z:-4.77 [[ 9.99948872e-01 -1.72417805e-03 9.96401322e-03 2.20916914e+02] [ 1.74377591e-03 9.99996562e-01 -1.95851091e-03 -1.78631277e+01] [-9.96060214e-03 1.97578578e-03 9.99948440e-01 -4.76856930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16241403699996 meters 0.09944397272328157 Centerline is valid? [True, True] Translation: X:220.98, Y:-17.87, Z:-4.77 [[ 9.99935793e-01 -2.46948063e-03 1.10594720e-02 2.20977121e+02] [ 2.48310941e-03 9.99996174e-01 -1.21875552e-03 -1.78739452e+01] [-1.10564200e-02 1.24613915e-03 9.99938099e-01 -4.77117657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22241403699996 meters 0.09604840143620609 Centerline is valid? [True, True] Translation: X:221.04, Y:-17.87, Z:-4.77 [[ 9.99929864e-01 -3.28966482e-03 1.13773759e-02 2.21040036e+02] [ 3.30414341e-03 9.99993755e-01 -1.25401510e-03 -1.78742571e+01] [-1.13731796e-02 1.29151963e-03 9.99934489e-01 -4.77196473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28241403699997 meters 0.09717728731634218 Centerline is valid? [True, True] Translation: X:221.10, Y:-17.88, Z:-4.77 [[ 9.99883688e-01 -7.39568586e-03 1.33384238e-02 2.21100544e+02] [ 7.41597955e-03 9.99971417e-01 -1.47262712e-03 -1.78823677e+01] [-1.33271514e-02 1.57137332e-03 9.99909955e-01 -4.77392826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34241403699997 meters 0.0976988991967677 Centerline is valid? [True, True] Translation: X:221.16, Y:-17.89, Z:-4.78 [[ 9.99853886e-01 -1.05781568e-02 1.34279050e-02 2.21160992e+02] [ 1.05990027e-02 9.99942730e-01 -1.48221640e-03 -1.78888823e+01] [-1.34114569e-02 1.62432223e-03 9.99908743e-01 -4.77569003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40241403699997 meters 0.1002638613178859 Centerline is valid? [True, False] Translation: X:221.16, Y:-17.89, Z:-4.78 [[ 9.99873703e-01 -7.06493621e-03 1.42360258e-02 2.21159423e+02] [ 7.03003043e-03 9.99972163e-01 2.50048537e-03 -1.78891245e+01] [-1.42532953e-02 -2.40008987e-03 9.99895536e-01 -4.77568367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.462414037 meters 0.10399346726189532 Centerline is valid? [False, False] Translation: X:221.16, Y:-17.89, Z:-4.78 [[ 9.99877079e-01 -7.02384020e-03 1.40175575e-02 2.21160173e+02] [ 6.99109713e-03 9.99972721e-01 2.38349780e-03 -1.78881738e+01] [-1.40339164e-02 -2.28520671e-03 9.99898908e-01 -4.77619620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.522414037 meters 0.10256095355195191 Centerline is valid? [False, False] Translation: X:221.16, Y:-17.89, Z:-4.78 [[ 9.99881104e-01 -6.97999758e-03 1.37497974e-02 2.21161160e+02] [ 6.95117799e-03 9.99973545e-01 2.14267872e-03 -1.78865120e+01] [-1.37643895e-02 -2.04684668e-03 9.99903171e-01 -4.77692362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.582414037 meters 0.09902574966507321 Centerline is valid? [False, True] Translation: X:221.16, Y:-17.88, Z:-4.78 [[ 9.99884628e-01 -6.97287766e-03 1.34948065e-02 2.21161755e+02] [ 6.94890671e-03 9.99974195e-01 1.82238502e-03 -1.78849255e+01] [-1.35071655e-02 -1.72840062e-03 9.99907280e-01 -4.77706758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.642414037 meters 0.10218517788491313 Centerline is valid? [True, False] Translation: X:221.16, Y:-17.88, Z:-4.78 [[ 9.99887724e-01 -6.85362688e-03 1.33254190e-02 2.21162181e+02] [ 6.82964352e-03 9.99974977e-01 1.84449395e-03 -1.78845860e+01] [-1.33377270e-02 -1.75327899e-03 9.99909511e-01 -4.77719249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.702414037 meters 0.09913138711685172 Centerline is valid? [False, True] Translation: X:221.16, Y:-17.88, Z:-4.78 [[ 9.99892565e-01 -6.68344117e-03 1.30457208e-02 2.21162949e+02] [ 6.65975264e-03 9.99976097e-01 1.85840755e-03 -1.78841896e+01] [-1.30578295e-02 -1.77132662e-03 9.99913174e-01 -4.77752952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.762414037 meters 0.10084314721689183 Centerline is valid? [True, False] Translation: X:221.16, Y:-17.88, Z:-4.78 [[ 9.99899663e-01 -6.25489949e-03 1.27098211e-02 2.21164174e+02] [ 6.22654274e-03 9.99978040e-01 2.26943687e-03 -1.78843371e+01] [-1.27237371e-02 -2.19007092e-03 9.99916652e-01 -4.77839612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822414037 meters 0.09657291315472837 Centerline is valid? [False, True] Translation: X:221.17, Y:-17.88, Z:-4.78 [[ 9.99905741e-01 -5.93717780e-03 1.23797561e-02 2.21165160e+02] [ 5.90633516e-03 9.99979366e-01 2.52645190e-03 -1.78843663e+01] [-1.23945006e-02 -2.45309477e-03 9.99920176e-01 -4.77892023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882414037 meters 0.10004168859785541 Centerline is valid? [True, False] Translation: X:221.17, Y:-17.89, Z:-4.78 [[ 9.99911259e-01 -5.41630169e-03 1.21711833e-02 2.21166164e+02] [ 5.37798744e-03 9.99980487e-01 3.17847603e-03 -1.78852081e+01] [-1.21881614e-02 -3.11273750e-03 9.99920877e-01 -4.77981615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942414037 meters 0.09867710808834773 Centerline is valid? [False, True] Translation: X:221.17, Y:-17.88, Z:-4.78 [[ 9.99913001e-01 -5.32933198e-03 1.20659788e-02 2.21166525e+02] [ 5.29124222e-03 9.99980924e-01 3.18651609e-03 -1.78849531e+01] [-1.20827307e-02 -3.12239485e-03 9.99922126e-01 -4.78004055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002414037 meters 0.10028738100145933 Centerline is valid? [True, False] Translation: X:221.17, Y:-17.89, Z:-4.78 [[ 9.99917335e-01 -5.10255426e-03 1.18020172e-02 2.21166862e+02] [ 5.06379495e-03 9.99981695e-01 3.31168093e-03 -1.78854255e+01] [-1.18186992e-02 -3.25164417e-03 9.99924870e-01 -4.77973622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062414037 meters 0.09961248773996814 Centerline is valid? [False, True] Translation: X:221.17, Y:-17.89, Z:-4.78 [[ 9.99921111e-01 -4.78969639e-03 1.16116695e-02 2.21167506e+02] [ 4.74772379e-03 9.99982106e-01 3.63956607e-03 -1.78858458e+01] [-1.16288942e-02 -3.58414995e-03 9.99925959e-01 -4.78011777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122414037 meters 0.09862495459810736 Centerline is valid? [True, True] Translation: X:221.23, Y:-17.89, Z:-4.78 [[ 9.99941557e-01 -3.10221122e-03 1.03566295e-02 2.21229130e+02] [ 3.11436640e-03 9.99994480e-01 -1.15774070e-03 -1.78888940e+01] [-1.03529808e-02 1.18992738e-03 9.99945698e-01 -4.78195893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182414037 meters 0.10095713911757609 Centerline is valid? [True, False] Translation: X:221.23, Y:-17.89, Z:-4.78 [[ 9.99944701e-01 -2.50661070e-03 1.02132729e-02 2.21229840e+02] [ 2.50976468e-03 9.99996807e-01 -2.96006989e-04 -1.78908095e+01] [-1.02124983e-02 3.21623532e-04 9.99947799e-01 -4.78260869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242414037 meters 0.09817539013761224 Centerline is valid? [False, True] Translation: X:221.23, Y:-17.89, Z:-4.78 [[ 9.99947200e-01 -2.02831914e-03 1.00739068e-02 2.21230564e+02] [ 2.02477910e-03 9.99997885e-01 3.61593797e-04 -1.78918960e+01] [-1.00746189e-02 -3.41177269e-04 9.99949192e-01 -4.78327346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302414037 meters 0.09781705449853252 Centerline is valid? [True, True] Translation: X:221.29, Y:-17.90, Z:-4.78 [[ 9.99941547e-01 4.15626431e-04 1.08041867e-02 2.21290656e+02] [-4.02634246e-04 9.99999193e-01 -1.20466124e-03 -1.78973058e+01] [-1.08046787e-02 1.20024069e-03 9.99940907e-01 -4.78482282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362414037 meters 0.09735610041922362 Centerline is valid? [True, True] Translation: X:221.35, Y:-17.90, Z:-4.79 [[ 9.99926514e-01 1.92412251e-03 1.19692969e-02 2.21351577e+02] [-1.90828680e-03 9.99997289e-01 -1.33430797e-03 -1.79034121e+01] [-1.19718319e-02 1.31136906e-03 9.99927475e-01 -4.78663740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422414037 meters 0.09555881647326471 Centerline is valid? [True, True] Translation: X:221.41, Y:-17.91, Z:-4.79 [[ 9.99920076e-01 3.88989232e-03 1.20295209e-02 2.21412270e+02] [-3.87403457e-03 9.99991596e-01 -1.34125701e-03 -1.79071745e+01] [-1.20346372e-02 1.29454703e-03 9.99926743e-01 -4.78879527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482414037 meters 0.09772738572603158 Centerline is valid? [True, True] Translation: X:221.47, Y:-17.92, Z:-4.79 [[ 9.99919364e-01 5.29556139e-03 1.15422045e-02 2.21472505e+02] [-5.28105482e-03 9.99985227e-01 -1.28694418e-03 -1.79167426e+01] [-1.15488491e-02 1.22588539e-03 9.99932558e-01 -4.79246721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54241403699996 meters 0.09347484071608998 Centerline is valid? [True, True] Translation: X:221.53, Y:-17.92, Z:-4.80 [[ 9.99928819e-01 7.28034491e-03 9.45269466e-03 2.21533495e+02] [-7.27069478e-03 9.99973012e-01 -1.05485093e-03 -1.79151752e+01] [-9.46011923e-03 9.86048183e-04 9.99954766e-01 -4.79505678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60241403699996 meters 0.09566988660874662 Centerline is valid? [True, True] Translation: X:221.59, Y:-17.93, Z:-4.80 [[ 9.99915289e-01 8.82555653e-03 9.56687496e-03 2.21591944e+02] [-8.81573822e-03 9.99960570e-01 -1.06796831e-03 -1.79260831e+01] [-9.57592316e-03 9.83538772e-04 9.99953666e-01 -4.79832946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66241403699996 meters 0.09264084978672019 Centerline is valid? [True, True] Translation: X:221.65, Y:-17.93, Z:-4.80 [[ 9.99878628e-01 1.18630334e-02 1.00993659e-02 2.21652869e+02] [-1.18522506e-02 9.99929125e-01 -1.12685243e-03 -1.79259981e+01] [-1.01120180e-02 1.00701545e-03 9.99948365e-01 -4.79851628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72241403699996 meters 0.08975553304665793 Centerline is valid? [True, True] Translation: X:221.71, Y:-17.93, Z:-4.80 [[ 9.99825361e-01 1.58518156e-02 9.89780661e-03 2.21714054e+02] [-1.58416565e-02 9.99873904e-01 -1.10396164e-03 -1.79259959e+01] [-9.91405833e-03 9.46971198e-04 9.99950406e-01 -4.80016366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78241403699997 meters 0.08956399052429377 Centerline is valid? [True, True] Translation: X:221.77, Y:-17.93, Z:-4.80 [[ 9.99776736e-01 1.87778251e-02 9.68877092e-03 2.21774007e+02] [-1.87682208e-02 9.99823277e-01 -1.08126554e-03 -1.79325282e+01] [-9.70736250e-03 8.99183140e-04 9.99952478e-01 -4.80306592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84241403699997 meters 0.08891818762793591 Centerline is valid? [True, True] Translation: X:221.83, Y:-17.94, Z:-4.81 [[ 9.99675082e-01 2.40336391e-02 8.49203464e-03 2.21833991e+02] [-2.40264475e-02 9.99710874e-01 -9.47884150e-04 -1.79370156e+01] [-8.51236048e-03 7.43542741e-04 9.99963493e-01 -4.80567927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90241403699997 meters 0.08409040925160081 Centerline is valid? [True, True] Translation: X:221.90, Y:-17.93, Z:-4.81 [[ 9.99425316e-01 3.32478198e-02 6.60453960e-03 2.21895252e+02] [-3.32436708e-02 9.99447005e-01 -7.37023961e-04 -1.79315243e+01] [-6.62539176e-03 5.17041266e-04 9.99977918e-01 -4.80686476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.962414037 meters 0.08275851072915441 Centerline is valid? [True, True] Translation: X:221.95, Y:-17.93, Z:-4.81 [[ 9.99144301e-01 4.09931493e-02 5.49793665e-03 2.21954180e+02] [-4.09903901e-02 9.99159352e-01 -6.13655722e-04 -1.79347200e+01] [-5.51847051e-03 3.87768050e-04 9.99984698e-01 -4.81043262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.022414037 meters 0.08004603818858494 Centerline is valid? [True, True] Translation: X:222.01, Y:-17.93, Z:-4.81 [[ 9.98551380e-01 5.33987539e-02 6.61177147e-03 2.22014408e+02] [-5.33950359e-02 9.98573195e-01 -7.37704438e-04 -1.79334573e+01] [-6.64173026e-03 3.83600009e-04 9.99977870e-01 -4.81230592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.082414037 meters 0.07732729252294251 Centerline is valid? [True, True] Translation: X:222.08, Y:-17.93, Z:-4.81 [[ 9.97883184e-01 6.45076237e-02 8.24121167e-03 2.22075166e+02] [-6.45022233e-02 9.97917140e-01 -9.19679968e-04 -1.79311386e+01] [-8.28337274e-03 3.86156699e-04 9.99965618e-01 -4.81281226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.142414037 meters 0.0767014592286402 Centerline is valid? [True, True] Translation: X:222.13, Y:-17.94, Z:-4.81 [[ 9.97702844e-01 6.72274657e-02 8.33687850e-03 2.22134750e+02] [-6.72220307e-02 9.97737607e-01 -9.30762233e-04 -1.79353971e+01] [-8.38058999e-03 3.68202225e-04 9.99964814e-01 -4.81386776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.202414037 meters 0.0768627232917743 Centerline is valid? [True, True] Translation: X:222.19, Y:-17.94, Z:-4.82 [[ 9.97432743e-01 7.10966923e-02 8.55472408e-03 2.22192845e+02] [-7.10911111e-02 9.97469369e-01 -9.55135180e-04 -1.79430114e+01] [-8.60098218e-03 3.44518263e-04 9.99962952e-01 -4.81722180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.262414037 meters 0.07589560707459389 Centerline is valid? [True, True] Translation: X:222.25, Y:-17.95, Z:-4.82 [[ 9.97375338e-01 7.20566218e-02 7.09065963e-03 2.22252005e+02] [-7.20528093e-02 9.97400504e-01 -7.92006049e-04 -1.79472923e+01] [-7.12929677e-03 2.79025356e-04 9.99974547e-01 -4.81852355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322414037 meters 0.0779571937920403 Centerline is valid? [True, True] Translation: X:222.31, Y:-17.96, Z:-4.83 [[ 9.97518876e-01 7.01078163e-02 6.40200609e-03 2.22309070e+02] [-7.01046699e-02 9.97539385e-01 -7.14832151e-04 -1.79625359e+01] [-6.43636854e-03 2.64248040e-04 9.99979251e-01 -4.82524560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382414037 meters 0.07661143103581179 Centerline is valid? [True, True] Translation: X:222.37, Y:-17.97, Z:-4.82 [[ 9.97898000e-01 6.45445771e-02 5.79471233e-03 2.22369034e+02] [-6.45419154e-02 9.97914788e-01 -6.45364608e-04 -1.79699082e+01] [-5.82428391e-03 2.70006219e-04 9.99983002e-01 -4.82425491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442414037 meters 0.07878363241095977 Centerline is valid? [True, True] Translation: X:222.43, Y:-17.99, Z:-4.83 [[ 9.98303159e-01 5.78832029e-02 6.35116534e-03 2.22426816e+02] [-5.78798722e-02 9.98323305e-01 -7.07136468e-04 -1.79881030e+01] [-6.38144769e-03 3.38331932e-04 9.99979581e-01 -4.82862806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502414037 meters 0.0807568699531554 Centerline is valid? [True, True] Translation: X:222.48, Y:-18.00, Z:-4.83 [[ 9.98558699e-01 5.32975648e-02 6.31622353e-03 2.22484530e+02] [-5.32941801e-02 9.98578608e-01 -7.03094638e-04 -1.80031173e+01] [-6.34471894e-03 3.65463313e-04 9.99979805e-01 -4.83121564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562414037 meters 0.08028972519147953 Centerline is valid? [True, True] Translation: X:222.54, Y:-18.01, Z:-4.83 [[ 9.98880364e-01 4.67691890e-02 7.11766184e-03 2.22544432e+02] [-4.67647252e-02 9.98905617e-01 -7.92370357e-04 -1.80132993e+01] [-7.14693091e-03 4.58627691e-04 9.99974355e-01 -4.83057698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622414037 meters 0.08247836317965446 Centerline is valid? [True, True] Translation: X:222.60, Y:-18.03, Z:-4.83 [[ 9.99207554e-01 3.92306879e-02 6.72442832e-03 2.22603471e+02] [-3.92265329e-02 9.99230063e-01 -7.48716935e-04 -1.80287798e+01] [-6.74862361e-03 4.84347608e-04 9.99977110e-01 -4.83314547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682414037 meters 0.08350337659321141 Centerline is valid? [True, True] Translation: X:222.66, Y:-18.04, Z:-4.84 [[ 9.99392057e-01 3.42883326e-02 6.31085950e-03 2.22662976e+02] [-3.42845759e-02 9.99411864e-01 -7.02535782e-04 -1.80401599e+01] [-6.33123664e-03 4.85743539e-04 9.99979840e-01 -4.83513007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742414037 meters 0.08624751652842695 Centerline is valid? [True, True] Translation: X:222.72, Y:-18.05, Z:-4.84 [[ 9.99531395e-01 3.00696832e-02 5.72744137e-03 2.22721455e+02] [-3.00665175e-02 9.99547696e-01 -6.38046794e-04 -1.80546705e+01] [-5.74403669e-03 4.65543586e-04 9.99983395e-01 -4.83871582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802414037 meters 0.085486783015936 Centerline is valid? [True, True] Translation: X:222.78, Y:-18.06, Z:-4.84 [[ 9.99599453e-01 2.78718595e-02 4.90841985e-03 2.22781247e+02] [-2.78695080e-02 9.99611420e-01 -5.46831700e-04 -1.80602085e+01] [-4.92175376e-03 4.09817422e-04 9.99987804e-01 -4.84108410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862414037 meters 0.08763061133381554 Centerline is valid? [True, True] Translation: X:222.84, Y:-18.07, Z:-4.84 [[ 9.99640716e-01 2.63034096e-02 5.15459761e-03 2.22838817e+02] [-2.63007916e-02 9.99653909e-01 -5.75039802e-04 -1.80713324e+01] [-5.16793916e-03 4.39263202e-04 9.99986550e-01 -4.84404923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922414037 meters 0.08971658021038004 Centerline is valid? [True, True] Translation: X:222.90, Y:-18.08, Z:-4.85 [[ 9.99660139e-01 2.52334753e-02 6.54814362e-03 2.22895987e+02] [-2.52292273e-02 9.99681425e-01 -7.30534252e-04 -1.80820327e+01] [-6.56449146e-03 5.65081368e-04 9.99978294e-01 -4.84675392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982414037 meters 0.08749302798129055 Centerline is valid? [True, True] Translation: X:222.96, Y:-18.08, Z:-4.85 [[ 9.99682536e-01 2.47339740e-02 4.80179641e-03 2.22955878e+02] [-2.47316890e-02 9.99693982e-01 -5.34680777e-04 -1.80829264e+01] [-4.81355176e-03 4.15754499e-04 9.99988328e-01 -4.84730520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04241403699996 meters 0.0879937747848169 Centerline is valid? [True, True] Translation: X:223.01, Y:-18.09, Z:-4.85 [[ 9.99721081e-01 2.33140511e-02 3.77026873e-03 2.23014869e+02] [-2.33126302e-02 9.99728135e-01 -4.20399715e-04 -1.80879454e+01] [-3.77904495e-03 3.32387577e-04 9.99992804e-01 -4.84993496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10241403699996 meters 0.08564044402679863 Centerline is valid? [True, True] Translation: X:223.07, Y:-18.09, Z:-4.85 [[ 9.99744632e-01 2.21901406e-02 4.27418349e-03 2.23074041e+02] [-2.21883038e-02 9.99753696e-01 -4.76686287e-04 -1.80879029e+01] [-4.28370847e-03 3.81727675e-04 9.99990752e-01 -4.84974914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16241403699996 meters 0.08844957698762275 Centerline is valid? [True, True] Translation: X:223.13, Y:-18.10, Z:-4.85 [[ 9.99763919e-01 2.12815078e-02 4.38229472e-03 2.23131253e+02] [-2.12795679e-02 9.99773445e-01 -4.88823646e-04 -1.80965635e+01] [-4.39170479e-03 3.95454906e-04 9.99990278e-01 -4.85289805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22241403699996 meters 0.08707322693713483 Centerline is valid? [True, True] Translation: X:223.19, Y:-18.10, Z:-4.85 [[ 9.99749014e-01 2.18397455e-02 4.99353631e-03 2.23190546e+02] [-2.18372401e-02 9.99761385e-01 -5.55705596e-04 -1.80968582e+01] [-5.00448125e-03 4.46521070e-04 9.99987378e-01 -4.85350662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28241403699997 meters 0.08856353494946691 Centerline is valid? [True, True] Translation: X:223.25, Y:-18.10, Z:-4.86 [[ 9.99740981e-01 2.22342228e-02 4.85906157e-03 2.23248629e+02] [-2.22318567e-02 9.99752696e-01 -5.40428689e-04 -1.81017123e+01] [-4.86987591e-03 4.32262747e-04 9.99988049e-01 -4.85624956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34241403699997 meters 0.09002146361167197 Centerline is valid? [True, True] Translation: X:223.31, Y:-18.11, Z:-4.86 [[ 9.99758011e-01 2.12963124e-02 5.51238110e-03 2.23307209e+02] [-2.12932570e-02 9.99773085e-01 -6.12381537e-04 -1.81071854e+01] [-5.52417173e-03 4.94856800e-04 9.99984619e-01 -4.85939429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40241403699997 meters 0.09186329993241324 Centerline is valid? [True, True] Translation: X:223.37, Y:-18.11, Z:-4.86 [[ 9.99788235e-01 1.98426030e-02 5.45500480e-03 2.23365103e+02] [-1.98395914e-02 9.99802993e-01 -6.05633805e-04 -1.81128400e+01] [-5.46594747e-03 4.97280486e-04 9.99984938e-01 -4.86171748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.462414037 meters 0.09089938930813166 Centerline is valid? [True, True] Translation: X:223.43, Y:-18.11, Z:-4.86 [[ 9.99809886e-01 1.87466854e-02 5.36227688e-03 2.23425163e+02] [-1.87437661e-02 9.99824144e-01 -5.94155189e-04 -1.81146172e+01] [-5.37247233e-03 4.93532968e-04 9.99985446e-01 -4.86441535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.522414037 meters 0.09129117157817385 Centerline is valid? [True, True] Translation: X:223.48, Y:-18.12, Z:-4.87 [[ 9.99837208e-01 1.74306952e-02 4.66126750e-03 2.23484717e+02] [-1.74284752e-02 9.99847979e-01 -5.16462680e-04 -1.81197126e+01] [-4.66956120e-03 4.35139819e-04 9.99989003e-01 -4.86579898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.582414037 meters 0.08972841040723682 Centerline is valid? [True, True] Translation: X:223.54, Y:-18.12, Z:-4.87 [[ 9.99848728e-01 1.64852581e-02 5.54586732e-03 2.23543771e+02] [-1.64820981e-02 9.99863972e-01 -6.15004137e-04 -1.81204622e+01] [-5.55525143e-03 5.23503575e-04 9.99984432e-01 -4.86741873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.642414037 meters 0.08987762277738119 Centerline is valid? [True, True] Translation: X:223.60, Y:-18.13, Z:-4.87 [[ 9.99858212e-01 1.57387319e-02 5.98738143e-03 2.23601985e+02] [-1.57350391e-02 9.99875977e-01 -6.63375344e-04 -1.81256901e+01] [-5.99707954e-03 5.69069605e-04 9.99981855e-01 -4.86872942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.702414037 meters 0.09090959745537794 Centerline is valid? [True, True] Translation: X:223.66, Y:-18.13, Z:-4.87 [[ 9.99832149e-01 1.69111773e-02 7.04875580e-03 2.23661795e+02] [-1.69061033e-02 9.99856778e-01 -7.78815678e-04 -1.81315511e+01] [-7.06091696e-03 6.59517959e-04 9.99974854e-01 -4.87103889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.762414037 meters 0.0881910399673821 Centerline is valid? [True, True] Translation: X:223.72, Y:-18.13, Z:-4.87 [[ 9.99799965e-01 1.86862227e-02 7.13131644e-03 2.23722498e+02] [-1.86810748e-02 9.99825183e-01 -7.87818590e-04 -1.81298937e+01] [-7.14479112e-03 6.54440342e-04 9.99974262e-01 -4.87178263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.822414037 meters 0.08833628003872533 Centerline is valid? [True, True] Translation: X:223.78, Y:-18.13, Z:-4.88 [[ 9.99800016e-01 1.92845154e-02 5.29477039e-03 2.23780596e+02] [-1.92816785e-02 9.99813919e-01 -5.86336409e-04 -1.81344950e+01] [-5.30509235e-03 4.84127091e-04 9.99985811e-01 -4.87504996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.882414037 meters 0.09355458360362662 Centerline is valid? [True, True] Translation: X:223.84, Y:-18.15, Z:-4.88 [[ 9.99785674e-01 1.99341143e-02 5.58897809e-03 2.23837570e+02] [-1.99309646e-02 9.99801167e-01 -6.18702827e-04 -1.81470630e+01] [-5.60020011e-03 5.07176499e-04 9.99984190e-01 -4.87922865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942414037 meters 0.08895645893353443 Centerline is valid? [True, True] Translation: X:223.90, Y:-18.14, Z:-4.88 [[ 9.99759349e-01 2.07135038e-02 7.22465338e-03 2.23898638e+02] [-2.07082815e-02 9.99785243e-01 -7.96901885e-04 -1.81418049e+01] [-7.23960847e-03 6.47099953e-04 9.99973584e-01 -4.87738101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002414037 meters 0.08851330241338022 Centerline is valid? [True, True] Translation: X:223.96, Y:-18.15, Z:-4.88 [[ 9.99752207e-01 2.08209310e-02 7.87487069e-03 2.23957519e+02] [-2.08147216e-02 9.99782972e-01 -8.69652271e-04 -1.81468177e+01] [-7.89126859e-03 7.05523537e-04 9.99968615e-01 -4.87879534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062414037 meters 0.08798854018444449 Centerline is valid? [True, True] Translation: X:224.02, Y:-18.15, Z:-4.88 [[ 9.99786912e-01 1.91311330e-02 7.75441745e-03 2.24017342e+02] [-1.91250719e-02 9.99816733e-01 -8.55048202e-04 -1.81500780e+01] [-7.76935437e-03 7.06562210e-04 9.99969568e-01 -4.88050143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122414037 meters 0.08881771275566817 Centerline is valid? [True, True] Translation: X:224.08, Y:-18.16, Z:-4.88 [[ 9.99805341e-01 1.82112284e-02 7.59148318e-03 2.24076305e+02] [-1.82053948e-02 9.99833918e-01 -8.36839448e-04 -1.81564654e+01] [-7.60546225e-03 6.98470602e-04 9.99970834e-01 -4.88395907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182414037 meters 0.08969572508366394 Centerline is valid? [True, True] Translation: X:224.14, Y:-18.16, Z:-4.89 [[ 9.99835296e-01 1.73526805e-02 5.31646039e-03 2.24135798e+02] [-1.73498067e-02 9.99849309e-01 -5.86191107e-04 -1.81623887e+01] [-5.32583123e-03 4.93854999e-04 9.99985696e-01 -4.88854006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242414037 meters 0.09128199357502226 Centerline is valid? [True, True] Translation: X:224.19, Y:-18.17, Z:-4.89 [[ 9.99831603e-01 1.67625093e-02 7.46881629e-03 2.24194468e+02] [-1.67568204e-02 9.99859255e-01 -8.23614688e-04 -1.81699714e+01] [-7.48157094e-03 6.98322381e-04 9.99971769e-01 -4.89028505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302414037 meters 0.09007374578701774 Centerline is valid? [True, True] Translation: X:224.25, Y:-18.17, Z:-4.89 [[ 9.99811386e-01 1.73424912e-02 8.74241843e-03 2.24253403e+02] [-1.73347269e-02 9.99849278e-01 -9.63120358e-04 -1.81722239e+01] [-8.75780367e-03 8.11391265e-04 9.99961321e-01 -4.88972438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362414037 meters 0.08987392164811339 Centerline is valid? [True, True] Translation: X:224.31, Y:-18.17, Z:-4.89 [[ 9.99787536e-01 1.84120625e-02 9.26709492e-03 2.24313209e+02] [-1.84033979e-02 9.99830123e-01 -1.01940262e-03 -1.81746189e+01] [-9.28428996e-03 8.48639995e-04 9.99956540e-01 -4.89081178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422414037 meters 0.08901939091395661 Centerline is valid? [True, True] Translation: X:224.37, Y:-18.18, Z:-4.89 [[ 9.99770268e-01 1.99787851e-02 7.76275008e-03 2.24373199e+02] [-1.99727528e-02 9.99800160e-01 -8.53835962e-04 -1.81760134e+01] [-7.77825738e-03 6.98596320e-04 9.99969505e-01 -4.89335948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482414037 meters 0.08704890867973109 Centerline is valid? [True, True] Translation: X:224.43, Y:-18.18, Z:-4.90 [[ 9.99757983e-01 2.09035862e-02 6.85675543e-03 2.24432663e+02] [-2.08988992e-02 9.99781309e-01 -7.54514296e-04 -1.81762344e+01] [-6.87102798e-03 6.11033050e-04 9.99976208e-01 -4.89593382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54241403699996 meters 0.0862470320982757 Centerline is valid? [True, True] Translation: X:224.49, Y:-18.18, Z:-4.90 [[ 9.99733751e-01 2.19762330e-02 7.03364836e-03 2.24491896e+02] [-2.19713272e-02 9.99758302e-01 -7.73997666e-04 -1.81774863e+01] [-7.04895789e-03 6.19253000e-04 9.99974964e-01 -4.89701645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60241403699996 meters 0.08792913622183875 Centerline is valid? [True, True] Translation: X:224.55, Y:-18.19, Z:-4.90 [[ 9.99706140e-01 2.25207548e-02 8.96935971e-03 2.24549365e+02] [-2.25128066e-02 9.99746068e-01 -9.86140787e-04 -1.81854870e+01] [-8.98929074e-03 7.83925539e-04 9.99959288e-01 -4.89821280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66241403699996 meters 0.08977822947554699 Centerline is valid? [True, True] Translation: X:224.61, Y:-18.19, Z:-4.90 [[ 9.99736517e-01 2.08340051e-02 9.63536390e-03 2.24608248e+02] [-2.08247759e-02 9.99782582e-01 -1.05719573e-03 -1.81943645e+01] [-9.65529462e-03 8.56262888e-04 9.99953020e-01 -4.90026340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72241403699996 meters 0.08953640620647879 Centerline is valid? [True, True] Translation: X:224.67, Y:-18.20, Z:-4.90 [[ 9.99816239e-01 1.73233246e-02 8.20916395e-03 2.24668516e+02] [-1.73165156e-02 9.99849653e-01 -8.99790187e-04 -1.81991643e+01] [-8.22351708e-03 7.57470725e-04 9.99965899e-01 -4.90264571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78241403699997 meters 0.0938282785990089 Centerline is valid? [True, True] Translation: X:224.73, Y:-18.21, Z:-4.91 [[ 9.99877818e-01 1.36140527e-02 7.68161142e-03 2.24726978e+02] [-1.36079791e-02 9.99907052e-01 -8.42376508e-04 -1.82139451e+01] [-7.69236559e-03 7.37742377e-04 9.99970141e-01 -4.90614895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84241403699997 meters 0.09410963929430945 Centerline is valid? [True, True] Translation: X:224.79, Y:-18.22, Z:-4.91 [[ 9.99932221e-01 1.08193701e-02 4.30049296e-03 2.24786801e+02] [-1.08174402e-02 9.99941378e-01 -4.71755815e-04 -1.82194401e+01] [-4.30534496e-03 4.25203514e-04 9.99990642e-01 -4.90896595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90241403699997 meters 0.09329794649649462 Centerline is valid? [True, True] Translation: X:224.85, Y:-18.22, Z:-4.91 [[ 9.99933951e-01 1.03072212e-02 5.08471428e-03 2.24845299e+02] [-1.03045105e-02 9.99946751e-01 -5.59005722e-04 -1.82233258e+01] [-5.09020532e-03 5.06573309e-04 9.99986917e-01 -4.90988861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962414037 meters 0.09364678298661049 Centerline is valid? [True, True] Translation: X:224.90, Y:-18.23, Z:-4.91 [[ 9.99928336e-01 1.02464343e-02 6.19141640e-03 2.24903990e+02] [-1.02424198e-02 9.99947314e-01 -6.79764398e-04 -1.82285815e+01] [-6.19805536e-03 6.16300597e-04 9.99980602e-01 -4.91108354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022414037 meters 0.09333891806231605 Centerline is valid? [True, True] Translation: X:224.96, Y:-18.23, Z:-4.91 [[ 9.99915551e-01 1.07718025e-02 7.27041422e-03 2.24964047e+02] [-1.07662959e-02 9.99941725e-01 -7.96105092e-04 -1.82330890e+01] [-7.27856603e-03 7.17762431e-04 9.99973253e-01 -4.91145132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082414037 meters 0.09206255799654688 Centerline is valid? [True, True] Translation: X:225.02, Y:-18.24, Z:-4.91 [[ 9.99917136e-01 1.13939357e-02 5.99160790e-03 2.25024074e+02] [-1.13902017e-02 9.99934914e-01 -6.56960025e-04 -1.82365965e+01] [-5.99870329e-03 5.88659964e-04 9.99981834e-01 -4.91354508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142414037 meters 0.09073625558298155 Centerline is valid? [True, True] Translation: X:225.08, Y:-18.24, Z:-4.91 [[ 9.99928100e-01 1.10575995e-02 4.63934032e-03 2.25083507e+02] [-1.10553587e-02 9.99938758e-01 -5.08369957e-04 -1.82400260e+01] [-4.64467755e-03 4.57043834e-04 9.99989109e-01 -4.91488055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202414037 meters 0.09127459877343148 Centerline is valid? [True, True] Translation: X:225.14, Y:-18.25, Z:-4.92 [[ 9.99933188e-01 1.07070409e-02 4.35651821e-03 2.25141792e+02] [-1.07050579e-02 9.99942585e-01 -4.78246619e-04 -1.82480761e+01] [-4.36138868e-03 4.31577886e-04 9.99990396e-01 -4.91776801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262414037 meters 0.0942259722924414 Centerline is valid? [True, True] Translation: X:225.20, Y:-18.26, Z:-4.92 [[ 9.99957839e-01 7.79630540e-03 4.85159597e-03 2.25200178e+02] [-7.79382446e-03 9.99969487e-01 -5.30062449e-04 -1.82608492e+01] [-4.85558046e-03 4.92227614e-04 9.99988090e-01 -4.91943517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322414037 meters 0.09634334186327134 Centerline is valid? [True, True] Translation: X:225.26, Y:-18.27, Z:-4.92 [[ 9.99968000e-01 6.05156424e-03 5.23244298e-03 2.25259808e+02] [-6.04865451e-03 9.99981543e-01 -5.71739916e-04 -1.82728030e+01] [-5.23580633e-03 5.40072381e-04 9.99986147e-01 -4.92132760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382414037 meters 0.09615680892146113 Centerline is valid? [True, True] Translation: X:225.32, Y:-18.28, Z:-4.92 [[ 9.99984035e-01 3.37529990e-03 4.53168402e-03 2.25319572e+02] [-3.37309055e-03 9.99994189e-01 -4.95090514e-04 -1.82803261e+01] [-4.53332876e-03 4.79796830e-04 9.99989609e-01 -4.92248172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442414037 meters 0.09938237268726965 Centerline is valid? [True, True] Translation: X:225.38, Y:-18.29, Z:-4.93 [[ 9.99989422e-01 2.09685157e-03 4.09384435e-03 2.25378551e+02] [-2.09504276e-03 9.99997706e-01 -4.46073046e-04 -1.82945664e+01] [-4.09477030e-03 4.37491548e-04 9.99991521e-01 -4.92536379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502414037 meters 0.09643434397854567 Centerline is valid? [True, True] Translation: X:225.44, Y:-18.30, Z:-4.93 [[ 9.99989456e-01 2.05326021e-03 4.10746467e-03 2.25439606e+02] [-2.05143693e-03 9.99997795e-01 -4.48058300e-04 -1.82984035e+01] [-4.10837560e-03 4.39627371e-04 9.99991464e-01 -4.92530433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562414037 meters 0.09876302967902008 Centerline is valid? [True, True] Translation: X:225.50, Y:-18.31, Z:-4.93 [[ 9.99983921e-01 2.82936713e-03 4.91451287e-03 2.25498908e+02] [-2.82677311e-03 9.99995862e-01 -5.34694030e-04 -1.83096552e+01] [-4.91600538e-03 5.20793220e-04 9.99987781e-01 -4.92742067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622414037 meters 0.09631278979299045 Centerline is valid? [True, True] Translation: X:225.56, Y:-18.31, Z:-4.93 [[ 9.99981090e-01 3.62785679e-03 4.96576009e-03 2.25560482e+02] [-3.62520657e-03 9.99993282e-01 -5.42597527e-04 -1.83136708e+01] [-4.96769520e-03 5.24585360e-04 9.99987523e-01 -4.92833490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682414037 meters 0.09511963083993683 Centerline is valid? [True, True] Translation: X:225.62, Y:-18.32, Z:-4.93 [[ 9.99985483e-01 3.37197841e-03 4.20274482e-03 2.25621321e+02] [-3.37007793e-03 9.99994216e-01 -4.59199402e-04 -1.83200463e+01] [-4.20426892e-03 4.45029158e-04 9.99991063e-01 -4.93024204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742414037 meters 0.09625515482011561 Centerline is valid? [True, True] Translation: X:225.68, Y:-18.33, Z:-4.93 [[ 9.99987318e-01 3.52820187e-03 3.59376897e-03 2.25681578e+02] [-3.52681332e-03 9.99993704e-01 -3.92642313e-04 -1.83298345e+01] [-3.59513166e-03 3.79962782e-04 9.99993465e-01 -4.93327166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802414037 meters 0.0989410083219725 Centerline is valid? [True, True] Translation: X:225.74, Y:-18.34, Z:-4.94 [[ 9.99985012e-01 3.04426011e-03 4.55065093e-03 2.25740542e+02] [-3.04203138e-03 9.99995250e-01 -4.96602973e-04 -1.83431403e+01] [-4.55214110e-03 4.82752307e-04 9.99989522e-01 -4.93514838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862414037 meters 0.10113618114247297 Centerline is valid? [True, False] Translation: X:225.74, Y:-18.34, Z:-4.94 [[ 9.99991913e-01 -5.10937217e-04 3.98902446e-03 2.25741764e+02] [ 5.26977786e-04 9.99991776e-01 -4.02116089e-03 -1.83445467e+01] [-3.98693709e-03 4.02323050e-03 9.99983959e-01 -4.93526458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922414037 meters 0.09695081051295326 Centerline is valid? [False, True] Translation: X:225.74, Y:-18.35, Z:-4.93 [[ 9.99990274e-01 8.85812313e-04 4.32050533e-03 2.25738741e+02] [-8.76848392e-04 9.99997460e-01 -2.07619223e-03 -1.83456419e+01] [-4.32233348e-03 2.07238361e-03 9.99988511e-01 -4.93267534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982414037 meters 0.09737562662133047 Centerline is valid? [True, True] Translation: X:225.80, Y:-18.36, Z:-4.94 [[ 9.99996643e-01 -4.98289695e-04 2.54277301e-03 2.25798860e+02] [ 4.98996254e-04 9.99999837e-01 -2.77242769e-04 -1.83562472e+01] [-2.54263444e-03 2.78510672e-04 9.99996729e-01 -4.93644836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04241403699996 meters 0.0980192699571588 Centerline is valid? [True, True] Translation: X:225.86, Y:-18.37, Z:-4.94 [[ 9.99998910e-01 -9.12355899e-04 1.16069337e-03 2.25859328e+02] [ 9.12502510e-04 9.99999576e-01 -1.25790027e-04 -1.83665798e+01] [-1.16057812e-03 1.26849025e-04 9.99999318e-01 -4.94045607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10241403699996 meters 0.09718826582166623 Centerline is valid? [True, True] Translation: X:225.92, Y:-18.37, Z:-4.94 [[ 9.99998558e-01 -5.02554315e-04 1.62220062e-03 2.25920520e+02] [ 5.02840912e-04 9.99999858e-01 -1.76269183e-04 -1.83739408e+01] [-1.62211181e-03 1.77084638e-04 9.99998669e-01 -4.94163697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16241403699996 meters 0.09797245350464999 Centerline is valid? [True, True] Translation: X:225.98, Y:-18.38, Z:-4.94 [[ 9.99995909e-01 8.10574812e-04 2.74315227e-03 2.25981015e+02] [-8.09756594e-04 9.99999627e-01 -2.99374336e-04 -1.83845888e+01] [-2.74339391e-03 2.97151826e-04 9.99996193e-01 -4.94250151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22241403699996 meters 0.09814444338303538 Centerline is valid? [True, True] Translation: X:226.04, Y:-18.39, Z:-4.94 [[ 9.99993616e-01 1.78550244e-03 3.09507552e-03 2.26041698e+02] [-1.78446650e-03 9.99998351e-01 -3.37436270e-04 -1.83940120e+01] [-3.09567291e-03 3.31911058e-04 9.99995153e-01 -4.94416037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28241403699997 meters 0.09674428474472484 Centerline is valid? [True, True] Translation: X:226.10, Y:-18.40, Z:-4.95 [[ 9.99995107e-01 2.58676901e-03 1.75937177e-03 2.26102589e+02] [-2.58643618e-03 9.99996637e-01 -1.91428814e-04 -1.84008316e+01] [-1.75986103e-03 1.86877374e-04 9.99998434e-01 -4.94536052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34241403699997 meters 0.09527375457381797 Centerline is valid? [True, True] Translation: X:226.16, Y:-18.41, Z:-4.95 [[ 9.99994084e-01 3.27082762e-03 1.06486969e-03 2.26162991e+02] [-3.27070541e-03 9.99994644e-01 -1.16489414e-04 -1.84069609e+01] [-1.06524501e-03 1.13005850e-04 9.99999426e-01 -4.94656386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40241403699997 meters 0.09401168398374155 Centerline is valid? [True, True] Translation: X:226.22, Y:-18.41, Z:-4.95 [[ 9.99990110e-01 4.40891698e-03 -5.84319134e-04 2.26222023e+02] [-4.40888100e-03 9.99990279e-01 6.28560354e-05 -1.84127452e+01] [ 5.84590580e-04 -6.02792202e-05 9.99999827e-01 -4.94854830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.462414037 meters 0.09478982871572925 Centerline is valid? [True, True] Translation: X:226.28, Y:-18.42, Z:-4.95 [[ 9.99987232e-01 5.02121034e-03 -5.67787129e-04 2.26280254e+02] [-5.02117708e-03 9.99987392e-01 5.99839923e-05 -1.84215041e+01] [ 5.68081162e-04 -5.71322667e-05 9.99999837e-01 -4.95115483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.522414037 meters 0.09464846501049283 Centerline is valid? [True, True] Translation: X:226.34, Y:-18.43, Z:-4.95 [[ 9.99984720e-01 5.51899622e-03 -3.17471888e-04 2.26338700e+02] [-5.51898615e-03 9.99984770e-01 3.26044554e-05 -1.84280362e+01] [ 3.17646996e-04 -3.08518343e-05 9.99999949e-01 -4.95218788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582414037 meters 0.09432287481396352 Centerline is valid? [True, True] Translation: X:226.40, Y:-18.44, Z:-4.95 [[ 9.99986182e-01 5.23107237e-03 -5.21126556e-04 2.26397523e+02] [-5.23104451e-03 9.99986316e-01 5.48082459e-05 -1.84350090e+01] [ 5.21406131e-04 -5.20814524e-05 9.99999863e-01 -4.95364664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642414037 meters 0.09619527624594351 Centerline is valid? [True, True] Translation: X:226.46, Y:-18.45, Z:-4.96 [[ 9.99991273e-01 4.14987302e-03 4.82656785e-04 2.26455916e+02] [-4.14984738e-03 9.99991388e-01 -5.41042422e-05 -1.84462120e+01] [-4.82877154e-04 5.21008181e-05 9.99999882e-01 -4.95518787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.702414037 meters 0.09512614194474403 Centerline is valid? [True, True] Translation: X:226.52, Y:-18.45, Z:-4.96 [[ 9.99997080e-01 2.40885280e-03 -1.91016923e-04 2.26516251e+02] [-2.40884886e-03 9.99997099e-01 2.08407443e-05 -1.84517628e+01] [ 1.91066571e-04 -2.03805526e-05 9.99999982e-01 -4.95619714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762414037 meters 0.09384720480684797 Centerline is valid? [True, True] Translation: X:226.58, Y:-18.46, Z:-4.96 [[ 9.99999640e-01 8.07711607e-04 -2.59079415e-04 2.26576215e+02] [-8.07704449e-04 9.99999673e-01 2.77316753e-05 -1.84563466e+01] [ 2.59101730e-04 -2.75224058e-05 9.99999966e-01 -4.95774411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822414037 meters 0.09676096184613583 Centerline is valid? [True, True] Translation: X:226.63, Y:-18.47, Z:-4.96 [[ 9.99999541e-01 -5.24127169e-04 -8.02072750e-04 2.26634820e+02] [ 5.24197084e-04 9.99999859e-01 8.69593864e-05 -1.84691233e+01] [ 8.02027059e-04 -8.73797907e-05 9.99999675e-01 -4.96001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882414037 meters 0.09685904446182607 Centerline is valid? [True, True] Translation: X:226.69, Y:-18.48, Z:-4.96 [[ 9.99996445e-01 -2.66066295e-03 -1.78175325e-04 2.26694577e+02] [ 2.66066641e-03 9.99996460e-01 1.91600209e-05 -1.84765480e+01] [ 1.78123716e-04 -1.96340179e-05 9.99999984e-01 -4.96032631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942414037 meters 0.09493929954640572 Centerline is valid? [True, True] Translation: X:226.76, Y:-18.48, Z:-4.96 [[ 9.99992843e-01 -3.75887954e-03 -4.30796740e-04 2.26755967e+02] [ 3.75890059e-03 9.99992934e-01 4.80636009e-05 -1.84793931e+01] [ 4.30613031e-04 -4.96825790e-05 9.99999906e-01 -4.96046516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002414037 meters 0.09915098672600145 Centerline is valid? [True, True] Translation: X:226.82, Y:-18.49, Z:-4.96 [[ 9.99989016e-01 -4.66262533e-03 -4.78080871e-04 2.26815254e+02] [ 4.66265105e-03 9.99989128e-01 5.26897953e-05 -1.84928019e+01] [ 4.77830000e-04 -5.49183408e-05 9.99999884e-01 -4.96410549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062414037 meters 0.09801776683341644 Centerline is valid? [True, True] Translation: X:226.88, Y:-18.50, Z:-4.97 [[ 9.99985208e-01 -5.38500676e-03 -7.65700889e-04 2.26876864e+02] [ 5.38507311e-03 9.99985497e-01 8.46195795e-05 -1.84964195e+01] [ 7.65234106e-04 -8.87416831e-05 9.99999703e-01 -4.96502553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122414037 meters 0.098495186563568 Centerline is valid? [True, True] Translation: X:226.94, Y:-18.50, Z:-4.97 [[ 9.99982706e-01 -5.77664793e-03 -1.10356413e-03 2.26937753e+02] [ 5.77678553e-03 9.99983307e-01 1.21532475e-04 -1.85023483e+01] [ 1.10284365e-03 -1.27905426e-04 9.99999384e-01 -4.96718490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182414037 meters 0.0995164993432112 Centerline is valid? [True, True] Translation: X:227.00, Y:-18.51, Z:-4.97 [[ 9.99976467e-01 -6.52174014e-03 -2.12877548e-03 2.26998441e+02] [ 6.52225188e-03 9.99978703e-01 2.33535325e-04 -1.85099612e+01] [ 2.12720709e-03 -2.47414239e-04 9.99997707e-01 -4.96950766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242414037 meters 0.09628341034861487 Centerline is valid? [True, True] Translation: X:227.06, Y:-18.51, Z:-4.97 [[ 9.99970473e-01 -7.32291466e-03 -2.32968539e-03 2.27060435e+02] [ 7.32352972e-03 9.99973150e-01 2.55589300e-04 -1.85100031e+01] [ 2.32775118e-03 -2.72643274e-04 9.99997254e-01 -4.96901431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302414037 meters 0.09455932148362572 Centerline is valid? [True, True] Translation: X:227.12, Y:-18.51, Z:-4.97 [[ 9.99975659e-01 -6.77668432e-03 -1.66050306e-03 2.27122059e+02] [ 6.77699669e-03 9.99977019e-01 1.82562688e-04 -1.85127522e+01] [ 1.65922773e-03 -1.93811468e-04 9.99998605e-01 -4.96923826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362414037 meters 0.10249931410922979 Centerline is valid? [True, False] Translation: X:227.12, Y:-18.51, Z:-4.97 [[ 9.99976271e-01 -6.63868115e-03 -1.83970705e-03 2.27122792e+02] [ 6.63907319e-03 9.99977940e-01 2.07074516e-04 -1.85120006e+01] [ 1.83829177e-03 -2.19283552e-04 9.99998286e-01 -4.96979060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422414037 meters 0.09624766432787044 Centerline is valid? [False, True] Translation: X:227.12, Y:-18.51, Z:-4.97 [[ 9.99976901e-01 -6.52943511e-03 -1.88774118e-03 2.27123188e+02] [ 6.53004461e-03 9.99978629e-01 3.16888693e-04 -1.85117525e+01] [ 1.88563174e-03 -3.29208408e-04 9.99998168e-01 -4.97022944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482414037 meters 0.0988121837692917 Centerline is valid? [True, True] Translation: X:227.18, Y:-18.52, Z:-4.97 [[ 9.99969020e-01 -7.68690856e-03 -1.69441247e-03 2.27183435e+02] [ 7.68723712e-03 9.99970435e-01 1.87479362e-04 -1.85220388e+01] [ 1.69292124e-03 -2.00498904e-04 9.99998547e-01 -4.97205557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54241403699996 meters 0.09980314004140356 Centerline is valid? [True, True] Translation: X:227.25, Y:-18.53, Z:-4.97 [[ 9.99969711e-01 -7.54911262e-03 -1.89423278e-03 2.27245447e+02] [ 7.54952615e-03 9.99971480e-01 2.11253612e-04 -1.85283812e+01] [ 1.89258398e-03 -2.25547774e-04 9.99998184e-01 -4.97410334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60241403699996 meters 0.10042380101825671 Centerline is valid? [True, False] Translation: X:227.24, Y:-18.53, Z:-4.97 [[ 9.99992812e-01 -3.53105514e-03 -1.38128554e-03 2.27244536e+02] [ 3.53715367e-03 9.99983897e-01 4.43787057e-03 -1.85285768e+01] [ 1.36559293e-03 -4.44272449e-03 9.99989199e-01 -4.97431754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66241403699996 meters 0.10043785781958953 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.97 [[ 9.99991874e-01 -3.73994727e-03 -1.50492883e-03 2.27244805e+02] [ 3.74584442e-03 9.99985242e-01 3.93500967e-03 -1.85268081e+01] [ 1.49018989e-03 -3.94061492e-03 9.99991125e-01 -4.97434264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72241403699996 meters 0.10119444323792677 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.97 [[ 9.99991288e-01 -3.90663726e-03 -1.47069064e-03 2.27244806e+02] [ 3.91199399e-03 9.99985660e-01 3.65723354e-03 -1.85259084e+01] [ 1.45638207e-03 -3.66295501e-03 9.99992231e-01 -4.97442219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78241403699997 meters 0.10204528485559816 Centerline is valid? [False, False] Translation: X:227.25, Y:-18.53, Z:-4.98 [[ 9.99967850e-01 -7.78568195e-03 -1.91881806e-03 2.27246365e+02] [ 7.78493552e-03 9.99969618e-01 -3.96165002e-04 -1.85250274e+01] [ 1.92184418e-03 3.81214391e-04 9.99998081e-01 -4.97528597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84241403699997 meters 0.10087353024343543 Centerline is valid? [False, False] Translation: X:227.25, Y:-18.53, Z:-4.98 [[ 9.99967267e-01 -7.91604650e-03 -1.67337804e-03 2.27245822e+02] [ 7.91550496e-03 9.99968617e-01 -3.29999873e-04 -1.85254013e+01] [ 1.67593782e-03 3.16743440e-04 9.99998545e-01 -4.97523908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90241403699997 meters 0.10672092055710995 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.98 [[ 9.99966163e-01 -8.16345472e-03 -1.01491929e-03 2.27244599e+02] [ 8.16347196e-03 9.99966678e-01 1.28488400e-05 -1.85267060e+01] [ 1.01478058e-03 -2.11336704e-05 9.99999485e-01 -4.97527365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.962414037 meters 0.11063380286645709 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.98 [[ 9.99966777e-01 -8.13559722e-03 -5.07862581e-04 2.27243824e+02] [ 8.13598307e-03 9.99966612e-01 7.62378933e-04 -1.85289733e+01] [ 5.01643217e-04 -7.66485566e-04 9.99999580e-01 -4.97558382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.022414037 meters 0.10787130672764934 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.98 [[ 9.99968636e-01 -7.91927596e-03 -1.14162705e-04 2.27243520e+02] [ 7.91945002e-03 9.99967337e-01 1.61459804e-03 -1.85310604e+01] [ 1.01372529e-04 -1.61545151e-03 9.99998690e-01 -4.97634491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.082414037 meters 0.11549188124649903 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.98 [[ 9.99971036e-01 -7.61089568e-03 -3.11074742e-05 2.27243732e+02] [ 7.61094608e-03 9.99968557e-01 2.22669184e-03 -1.85323932e+01] [ 1.41593768e-05 -2.22686410e-03 9.99997520e-01 -4.97691212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.142414037 meters 0.11159799425111996 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.53, Z:-4.98 [[ 9.99972804e-01 -7.37081679e-03 2.50183672e-04 2.27243383e+02] [ 7.37005082e-03 9.99968532e-01 2.93568040e-03 -1.85343494e+01] [-2.71814161e-04 -2.93375669e-03 9.99995660e-01 -4.97723713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.202414037 meters 0.11580380458783385 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99975767e-01 -6.95586400e-03 2.85353866e-04 2.27243368e+02] [ 6.95476141e-03 9.99968976e-01 3.69831186e-03 -1.85365333e+01] [-3.11069968e-04 -3.69623767e-03 9.99993121e-01 -4.97729595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.262414037 meters 0.12245997000866622 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99979203e-01 -6.44906297e-03 5.48278944e-05 2.27244061e+02] [ 6.44876267e-03 9.99969703e-01 4.35962099e-03 -1.85379220e+01] [-8.29417036e-05 -4.35917675e-03 9.99990495e-01 -4.97759554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322414037 meters 0.1071244832582084 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99981374e-01 -6.09485890e-03 -3.23163514e-04 2.27244591e+02] [ 6.09630087e-03 9.99970529e-01 4.66647274e-03 -1.85389726e+01] [ 2.94712497e-04 -4.66835592e-03 9.99989060e-01 -4.97721743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382414037 meters 0.10748663576370271 Centerline is valid? [False, False] Translation: X:227.23, Y:-18.54, Z:-4.98 [[ 9.99977298e-01 -6.66461472e-04 6.70514024e-03 2.27234760e+02] [ 6.55717012e-04 9.99998498e-01 1.60449224e-03 -1.85405369e+01] [-6.70619950e-03 -1.60005914e-03 9.99976233e-01 -4.98055283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442414037 meters 0.10751504368576519 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99981522e-01 -1.06155359e-04 6.07818008e-03 2.27236359e+02] [ 9.42727968e-05 9.99998084e-01 1.95520708e-03 -1.85405920e+01] [-6.07837599e-03 -1.95459795e-03 9.99979616e-01 -4.98111963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502414037 meters 0.10749882457178778 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99982700e-01 6.76615396e-05 5.88177905e-03 2.27236946e+02] [-7.96387326e-05 9.99997924e-01 2.03611112e-03 -1.85404781e+01] [-5.88162908e-03 -2.03654432e-03 9.99980629e-01 -4.98141806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562414037 meters 0.10438757238530197 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99983539e-01 9.12600451e-05 5.73702517e-03 2.27237168e+02] [-1.02371555e-04 9.99998120e-01 1.93654311e-03 -1.85403750e+01] [-5.73683766e-03 -1.93709854e-03 9.99981668e-01 -4.98129522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622414037 meters 0.10445599735114156 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99982686e-01 -2.17914137e-05 5.88449575e-03 2.27236697e+02] [ 1.06699018e-05 9.99998214e-01 1.88999333e-03 -1.85406793e+01] [-5.88452642e-03 -1.88989782e-03 9.99980900e-01 -4.98098903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682414037 meters 0.10323286801030013 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99982486e-01 -1.30593134e-04 5.91704384e-03 2.27236664e+02] [ 1.20456549e-04 9.99998525e-01 1.71344038e-03 -1.85401489e+01] [-5.91725887e-03 -1.71269763e-03 9.99981026e-01 -4.98101838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742414037 meters 0.104241690543687 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99982396e-01 -1.01788832e-04 5.93273726e-03 2.27237006e+02] [ 9.16315448e-05 9.99998530e-01 1.71232108e-03 -1.85395598e+01] [-5.93290283e-03 -1.71174731e-03 9.99980935e-01 -4.98156729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802414037 meters 0.10681696730847265 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99982413e-01 2.90918690e-06 5.93065707e-03 2.27237307e+02] [-1.39742264e-05 9.99998259e-01 1.86569526e-03 -1.85394831e+01] [-5.93064132e-03 -1.86574533e-03 9.99980673e-01 -4.98199721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862414037 meters 0.1051317190637188 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99981304e-01 -2.63218306e-04 6.10917552e-03 2.27236817e+02] [ 2.53406480e-04 9.99998677e-01 1.60679878e-03 -1.85391504e+01] [-6.10959038e-03 -1.60522063e-03 9.99980048e-01 -4.98175072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922414037 meters 0.10889139033189972 Centerline is valid? [False, False] Translation: X:227.24, Y:-18.54, Z:-4.98 [[ 9.99981442e-01 -1.83780947e-04 6.08954629e-03 2.27237090e+02] [ 1.73495836e-04 9.99998558e-01 1.68946342e-03 -1.85389694e+01] [-6.08984800e-03 -1.68837556e-03 9.99980031e-01 -4.98208417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982414037 meters 0.16182717982930428 Centerline is valid? [False, False] Translation: X:227.32, Y:-18.55, Z:-4.98 [[ 9.99990501e-01 -1.84320498e-03 3.94962191e-03 2.27318394e+02] [ 1.84466128e-03 9.99998232e-01 -3.65107985e-04 -1.85472979e+01] [-3.94894196e-03 3.72390231e-04 9.99992134e-01 -4.98268330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04241403699996 meters 0.11187935268971881 Centerline is valid? [False, False] Translation: X:227.25, Y:-18.54, Z:-4.98 [[ 9.99997327e-01 -2.07727570e-03 -1.01573887e-03 2.27253808e+02] [ 2.08243385e-03 9.99984807e-01 5.10381090e-03 -1.85376398e+01] [ 1.00512142e-03 -5.10591246e-03 9.99986460e-01 -4.97783287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10241403699996 meters 0.11542945588770873 Centerline is valid? [False, False] Translation: X:227.25, Y:-18.54, Z:-4.98 [[ 9.99996569e-01 -2.32440710e-03 -1.20819027e-03 2.27254476e+02] [ 2.32985374e-03 9.99987042e-01 4.52641649e-03 -1.85353553e+01] [ 1.19765337e-03 -4.52921586e-03 9.99989026e-01 -4.97824220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16241403699996 meters 0.1122682075772125 Centerline is valid? [False, False] Translation: X:227.25, Y:-18.53, Z:-4.98 [[ 9.99995443e-01 -2.71619254e-03 -1.31805388e-03 2.27254762e+02] [ 2.72114126e-03 9.99989201e-01 3.76741530e-03 -1.85326340e+01] [ 1.30780662e-03 -3.77098474e-03 9.99992035e-01 -4.97833113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22241403699996 meters 0.11488676499868507 Centerline is valid? [False, False] Translation: X:227.25, Y:-18.53, Z:-4.98 [[ 9.99993820e-01 -3.21801454e-03 -1.41546572e-03 2.27254861e+02] [ 3.22207622e-03 9.99990672e-01 2.87664422e-03 -1.85297998e+01] [ 1.40619544e-03 -2.88118718e-03 9.99994861e-01 -4.97818827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28241403699997 meters 0.11354563388790478 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.53, Z:-4.98 [[ 9.99993429e-01 -3.30881129e-03 -1.48141077e-03 2.27255339e+02] [ 3.31268202e-03 9.99991086e-01 2.61808366e-03 -1.85283474e+01] [ 1.47273482e-03 -2.62297390e-03 9.99995476e-01 -4.97867617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34241403699997 meters 0.11342901873345633 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.52, Z:-4.98 [[ 9.99992192e-01 -3.52317635e-03 -1.78950064e-03 2.27256540e+02] [ 3.52669798e-03 9.99991843e-01 1.96861159e-03 -1.85249249e+01] [ 1.78255028e-03 -1.97490725e-03 9.99996461e-01 -4.97951959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40241403699997 meters 0.11768144271942461 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.52, Z:-4.98 [[ 9.99990742e-01 -3.74886571e-03 -2.11236963e-03 2.27257803e+02] [ 3.75136552e-03 9.99992267e-01 1.18069893e-03 -1.85209095e+01] [ 2.10792701e-03 -1.18861227e-03 9.99997072e-01 -4.98045634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462414037 meters 0.11856202682682405 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.52, Z:-4.98 [[ 9.99988438e-01 -4.30211238e-03 -2.14819561e-03 2.27257933e+02] [ 4.30253638e-03 9.99990725e-01 1.92795805e-04 -1.85174506e+01] [ 2.14734626e-03 -2.02036266e-04 9.99997674e-01 -4.98054855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522414037 meters 0.11806826579050843 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.51, Z:-4.98 [[ 9.99986229e-01 -4.79412634e-03 -2.13489298e-03 2.27257839e+02] [ 4.79284391e-03 9.99988331e-01 -6.05411744e-04 -1.85147794e+01] [ 2.13777049e-03 5.95171198e-04 9.99997538e-01 -4.98044632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582414037 meters 0.11680427790533668 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.51, Z:-4.98 [[ 9.99998486e-01 -1.05107898e-03 -1.38673868e-03 2.27256551e+02] [ 1.05573962e-03 9.99993783e-01 3.36442510e-03 -1.85142230e+01] [ 1.38319378e-03 -3.36588404e-03 9.99993379e-01 -4.98080221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642414037 meters 0.11436567892002837 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.51, Z:-4.98 [[ 9.99997836e-01 -1.08630103e-03 -1.77444770e-03 2.27258074e+02] [ 1.09144347e-03 9.99995200e-01 2.89965896e-03 -1.85110243e+01] [ 1.77128928e-03 -2.90158939e-03 9.99994222e-01 -4.98191481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702414037 meters 0.1141538627403375 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.51, Z:-4.98 [[ 9.99997123e-01 -1.04422256e-03 -2.15975063e-03 2.27259338e+02] [ 1.04972173e-03 9.99996206e-01 2.54664431e-03 -1.85088613e+01] [ 2.15708317e-03 -2.54890412e-03 9.99994425e-01 -4.98261958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.762414037 meters 0.11570596109195558 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.51, Z:-4.98 [[ 9.99995825e-01 -8.73678340e-04 -2.75447115e-03 2.27260964e+02] [ 8.79682088e-04 9.99997239e-01 2.17917968e-03 -1.85064661e+01] [ 2.75255964e-03 -2.18159365e-03 9.99993832e-01 -4.98322083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822414037 meters 0.11237167411810427 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.50, Z:-4.98 [[ 9.99992382e-01 2.91262916e-03 -2.59864448e-03 2.27260662e+02] [-2.89781467e-03 9.99979633e-01 5.68651967e-03 -1.85039583e+01] [ 2.61515428e-03 -5.67894596e-03 9.99980455e-01 -4.98327296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882414037 meters 0.11768525366908551 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.50, Z:-4.98 [[ 9.99991096e-01 2.89524745e-03 -3.07006128e-03 2.27261819e+02] [-2.87969357e-03 9.99983058e-01 5.05868535e-03 -1.85013688e+01] [ 3.08465541e-03 -5.04979947e-03 9.99982492e-01 -4.98350092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942414037 meters 0.11205035634029295 Centerline is valid? [False, False] Translation: X:227.26, Y:-18.50, Z:-4.98 [[ 9.99990717e-01 2.74660934e-03 -3.32001821e-03 2.27262204e+02] [-2.73156197e-03 9.99986016e-01 4.52838458e-03 -1.84999567e+01] [ 3.33240949e-03 -4.51927371e-03 9.99984235e-01 -4.98324863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002414037 meters 0.1203543723937849 Centerline is valid? [False, False] Translation: X:227.29, Y:-18.50, Z:-4.98 [[ 9.99972062e-01 2.95178055e-03 -6.86752429e-03 2.27292912e+02] [-2.93776528e-03 9.99993584e-01 2.04999762e-03 -1.84992006e+01] [ 6.87353137e-03 -2.02976517e-03 9.99974317e-01 -4.97982071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062414037 meters 0.11750012319683718 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.50, Z:-4.98 [[ 9.99872530e-01 9.39102711e-03 -1.29124781e-02 2.27282102e+02] [-9.42700295e-03 9.99951843e-01 -2.72809169e-03 -1.84965459e+01] [ 1.28862367e-02 2.84946991e-03 9.99912909e-01 -4.97589930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122414037 meters 0.11374778099172475 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.50, Z:-4.98 [[ 9.99869967e-01 9.55928250e-03 -1.29872829e-02 2.27282552e+02] [-9.59270174e-03 9.99950830e-01 -2.51337343e-03 -1.84967112e+01] [ 1.29626182e-02 2.63762974e-03 9.99912503e-01 -4.97634378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182414037 meters 0.109648353661327 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.50, Z:-4.98 [[ 9.99875824e-01 9.38579683e-03 -1.26587613e-02 2.27281491e+02] [-9.41756654e-03 9.99952646e-01 -2.45243002e-03 -1.84978808e+01] [ 1.26351439e-02 2.57134022e-03 9.99916867e-01 -4.97582214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242414037 meters 0.11268140778061521 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.50, Z:-4.98 [[ 9.99974849e-01 6.74728950e-03 2.18513532e-03 2.27280683e+02] [-6.74848721e-03 9.99977082e-01 5.41211133e-04 -1.85011801e+01] [-2.18143353e-03 -5.55943879e-04 9.99997466e-01 -4.98129849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302414037 meters 0.1119053314812112 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.50, Z:-4.98 [[ 9.99995174e-01 2.67605047e-03 1.57805052e-03 2.27281096e+02] [-2.66992425e-03 9.99988941e-01 -3.87155752e-03 -1.85016961e+01] [-1.58839355e-03 3.86732556e-03 9.99991260e-01 -4.97999920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362414037 meters 0.11656372131247755 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.50, Z:-4.98 [[ 9.99994515e-01 2.86942116e-03 1.65411731e-03 2.27280853e+02] [-2.86375727e-03 9.99990064e-01 -3.41637304e-03 -1.85034489e+01] [-1.66390388e-03 3.41161731e-03 9.99992796e-01 -4.97990003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422414037 meters 0.11984707499897981 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.51, Z:-4.98 [[ 9.99991806e-01 3.80290122e-03 1.38748728e-03 2.27282106e+02] [-3.80004845e-03 9.99990672e-01 -2.05295129e-03 -1.85064481e+01] [-1.39528151e-03 2.04766195e-03 9.99996930e-01 -4.98100338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482414037 meters 0.11528980053402313 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.51, Z:-4.98 [[ 9.99966417e-01 7.94328230e-03 2.01743961e-03 2.27280644e+02] [-7.94850716e-03 9.99965043e-01 2.59516778e-03 -1.85090375e+01] [-1.99675493e-03 -2.61111626e-03 9.99994598e-01 -4.98069795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54241403699996 meters 0.11030456410393694 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.51, Z:-4.98 [[ 9.99989852e-01 4.42757533e-03 8.31828705e-04 2.27282523e+02] [-4.42622435e-03 9.99988894e-01 -1.61899469e-03 -1.85090734e+01] [-8.38987687e-04 1.61529640e-03 9.99998343e-01 -4.97989704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60241403699996 meters 0.11575691389465761 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.51, Z:-4.98 [[ 9.99989362e-01 4.57916592e-03 5.54418225e-04 2.27282894e+02] [-4.57825735e-03 9.99988193e-01 -1.62911767e-03 -1.85094634e+01] [-5.61871678e-04 1.62656207e-03 9.99998519e-01 -4.97953034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66241403699996 meters 0.10508821670716284 Centerline is valid? [False, False] Translation: X:227.28, Y:-18.51, Z:-4.98 [[ 9.99987569e-01 4.98546784e-03 -8.51944534e-05 2.27283981e+02] [-4.98559531e-03 9.99986342e-01 -1.56801064e-03 -1.85096845e+01] [ 7.73760232e-05 1.56841589e-03 9.99998767e-01 -4.97919781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72241403699996 meters 0.1088316316736821 Centerline is valid? [False, False] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99983848e-01 5.62697296e-03 -8.00069283e-04 2.27285527e+02] [-5.62798519e-03 9.99983358e-01 -1.26860470e-03 -1.85098872e+01] [ 7.92917564e-04 1.27308698e-03 9.99998875e-01 -4.97931352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78241403699997 meters 0.10297522953420041 Centerline is valid? [False, False] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99983202e-01 5.68251798e-03 -1.14230715e-03 2.27285800e+02] [-5.68419457e-03 9.99982765e-01 -1.46986889e-03 -1.85098146e+01] [ 1.13393491e-03 1.47633729e-03 9.99998267e-01 -4.97864708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84241403699997 meters 0.09917471219945355 Centerline is valid? [False, True] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99981340e-01 5.94253831e-03 -1.41598291e-03 2.27286453e+02] [-5.94437288e-03 9.99981494e-01 -1.29494888e-03 -1.85101952e+01] [ 1.40826143e-03 1.30334185e-03 9.99998159e-01 -4.97875740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90241403699997 meters 0.10401226952470886 Centerline is valid? [True, False] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99980415e-01 6.08043913e-03 -1.48283611e-03 2.27286664e+02] [-6.08210977e-03 9.99980871e-01 -1.12475399e-03 -1.85107526e+01] [ 1.47596874e-03 1.13375074e-03 9.99998268e-01 -4.97885079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.962414037 meters 0.09792098401074639 Centerline is valid? [False, True] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99978542e-01 6.32455779e-03 -1.70731075e-03 2.27287216e+02] [-6.32613966e-03 9.99979564e-01 -9.22719288e-04 -1.85109428e+01] [ 1.70144007e-03 9.33500174e-04 9.99998117e-01 -4.97895378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.022414037 meters 0.10066380980082679 Centerline is valid? [True, False] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99980439e-01 6.07640982e-03 -1.48293458e-03 2.27286089e+02] [-6.07798337e-03 9.99980968e-01 -1.05891506e-03 -1.85118532e+01] [ 1.47647195e-03 1.06790760e-03 9.99998340e-01 -4.97795762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.082414037 meters 0.10051497641171529 Centerline is valid? [False, False] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99979829e-01 6.15464596e-03 -1.56936507e-03 2.27286210e+02] [-6.15619850e-03 9.99980564e-01 -9.86371685e-04 -1.85122618e+01] [ 1.56326380e-03 9.96013111e-04 9.99998282e-01 -4.97785936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.142414037 meters 0.10079970461109629 Centerline is valid? [False, False] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99980456e-01 6.00076841e-03 -1.75481786e-03 2.27286457e+02] [-6.00333026e-03 9.99980917e-01 -1.45828739e-03 -1.85110671e+01] [ 1.74603353e-03 1.46879363e-03 9.99997397e-01 -4.97764931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202414037 meters 0.09154115510888644 Centerline is valid? [False, True] Translation: X:227.29, Y:-18.51, Z:-4.98 [[ 9.99973758e-01 6.81169501e-03 -2.46665839e-03 2.27288461e+02] [-6.81646827e-03 9.99974901e-01 -1.93190179e-03 -1.85072765e+01] [ 2.45343695e-03 1.94866499e-03 9.99995092e-01 -4.97822626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262414037 meters 0.09200102261206385 Centerline is valid? [True, True] Translation: X:227.35, Y:-18.51, Z:-4.98 [[ 9.99910190e-01 1.32968658e-02 -1.67500231e-03 2.27347227e+02] [-1.32965963e-02 9.99911582e-01 1.71975787e-04 -1.85127885e+01] [ 1.67714095e-03 -1.49688513e-04 9.99998582e-01 -4.98166006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322414037 meters 0.08384112621907532 Centerline is valid? [True, True] Translation: X:227.41, Y:-18.50, Z:-4.98 [[ 9.99682923e-01 2.51636331e-02 -9.18763573e-04 2.27409804e+02] [-2.51635568e-02 9.99683343e-01 9.44828576e-05 -1.84978055e+01] [ 9.20850172e-04 -7.13335399e-05 9.99999573e-01 -4.97969893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382414037 meters 0.08053361931480332 Centerline is valid? [True, True] Translation: X:227.47, Y:-18.49, Z:-4.98 [[ 9.99427863e-01 3.37600989e-02 -2.05004000e-03 2.27471732e+02] [-3.37597366e-02 9.99429955e-01 2.11076652e-04 -1.84917428e+01] [ 2.05599736e-03 -1.41747077e-04 9.99997876e-01 -4.98100479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442414037 meters 0.07726339120986146 Centerline is valid? [True, True] Translation: X:227.53, Y:-18.48, Z:-4.98 [[ 9.98789767e-01 4.91231539e-02 -2.43244109e-03 2.27532157e+02] [-4.91226913e-02 9.98792721e-01 2.49588589e-04 -1.84817261e+01] [ 2.44176503e-03 -1.29798476e-04 9.99997010e-01 -4.98369272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502414037 meters 0.0731766153187288 Centerline is valid? [True, True] Translation: X:227.59, Y:-18.47, Z:-4.98 [[ 9.98052744e-01 6.23164880e-02 -2.71562634e-03 2.27594866e+02] [-6.23159587e-02 9.98056433e-01 2.79182351e-04 -1.84661912e+01] [ 2.72774600e-03 -1.09411853e-04 9.99996274e-01 -4.98384521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562414037 meters 0.07166069834064527 Centerline is valid? [True, True] Translation: X:227.65, Y:-18.46, Z:-4.99 [[ 9.97421053e-01 7.17395739e-02 -2.16273018e-03 2.27654362e+02] [-7.17392623e-02 9.97423395e-01 2.21401512e-04 -1.84587009e+01] [ 2.17304093e-03 -6.56778611e-05 9.99997637e-01 -4.98765226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622414037 meters 0.07102797530214994 Centerline is valid? [True, True] Translation: X:227.71, Y:-18.46, Z:-4.99 [[ 9.97320557e-01 7.31463463e-02 -1.14814788e-03 2.27713809e+02] [-7.31462609e-02 9.97321218e-01 1.16282417e-04 -1.84586235e+01] [ 1.15357787e-03 -3.19881210e-05 9.99999334e-01 -4.98705430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682414037 meters 0.07087062696932382 Centerline is valid? [True, True] Translation: X:227.77, Y:-18.46, Z:-4.99 [[ 9.97182038e-01 7.49469716e-02 3.30685431e-03 2.27773611e+02] [-7.49462530e-02 9.97187516e-01 -3.40871918e-04 -1.84562028e+01] [-3.32310115e-03 9.20750145e-05 9.99994474e-01 -4.98796375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742414037 meters 0.07038099359663966 Centerline is valid? [True, True] Translation: X:227.83, Y:-18.45, Z:-4.99 [[ 9.97280715e-01 7.33958970e-02 6.64970878e-03 2.27833210e+02] [-7.33929368e-02 9.97302864e-01 -6.88425308e-04 -1.84505351e+01] [-6.68230120e-03 1.98511627e-04 9.99977653e-01 -4.98590372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802414037 meters 0.07090205135522644 Centerline is valid? [True, True] Translation: X:227.89, Y:-18.45, Z:-4.99 [[ 9.97471297e-01 7.07940334e-02 6.26224691e-03 2.27893282e+02] [-7.07913900e-02 9.97490935e-01 -6.43060452e-04 -1.84487017e+01] [-6.29205937e-03 1.98121180e-04 9.99980185e-01 -4.99022933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862414037 meters 0.07199525772043001 Centerline is valid? [True, True] Translation: X:227.95, Y:-18.45, Z:-5.00 [[ 9.97724199e-01 6.73088524e-02 3.99259083e-03 2.27953797e+02] [-6.73077523e-02 9.97732178e-01 -4.09426209e-04 -1.84504404e+01] [-4.01109435e-03 1.39762122e-04 9.99991946e-01 -4.99576698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922414037 meters 0.07412749916373672 Centerline is valid? [True, True] Translation: X:228.01, Y:-18.45, Z:-5.00 [[ 9.98001825e-01 6.30628198e-02 3.92903446e-03 2.28012814e+02] [-6.30617186e-02 9.98009547e-01 -4.03647616e-04 -1.84506863e+01] [-3.94666906e-03 1.55069392e-04 9.99992200e-01 -5.00180723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982414037 meters 0.07468279004961736 Centerline is valid? [True, True] Translation: X:228.07, Y:-18.44, Z:-5.00 [[ 9.98213364e-01 5.90550672e-02 9.08724885e-03 2.28072241e+02] [-5.90489927e-02 9.98254647e-01 -9.35559578e-04 -1.84445810e+01] [-9.12663793e-03 3.97295183e-04 9.99958272e-01 -5.00183033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04241403699996 meters 0.07700537595210107 Centerline is valid? [True, True] Translation: X:228.13, Y:-18.44, Z:-5.00 [[ 9.98552372e-01 5.23093370e-02 1.25257507e-02 2.28132972e+02] [-5.22973721e-02 9.98630734e-01 -1.28109768e-03 -1.84412280e+01] [-1.25756130e-02 6.24179279e-04 9.99920729e-01 -5.00192894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10241403699996 meters 0.08049153963997144 Centerline is valid? [True, True] Translation: X:228.19, Y:-18.44, Z:-5.01 [[ 9.98867762e-01 4.57568320e-02 1.30194520e-02 2.28193935e+02] [-4.57433484e-02 9.98952338e-01 -1.33171736e-03 -1.84389102e+01] [-1.30667472e-02 7.34656211e-04 9.99914357e-01 -5.00688099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16241403699996 meters 0.08528611172239665 Centerline is valid? [True, True] Translation: X:228.25, Y:-18.44, Z:-5.01 [[ 9.99077077e-01 4.13099773e-02 1.17677814e-02 2.28252537e+02] [-4.12986434e-02 9.99146121e-01 -1.20461623e-03 -1.84440369e+01] [-1.18074958e-02 7.17511053e-04 9.99930032e-01 -5.01397084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22241403699996 meters 0.09208254120678326 Centerline is valid? [True, True] Translation: X:228.31, Y:-18.44, Z:-5.02 [[ 9.99394595e-01 3.19659105e-02 1.37340176e-02 2.28313272e+02] [-3.19496083e-02 9.99488494e-01 -1.40482405e-03 -1.84384907e+01] [-1.37718990e-02 9.65177080e-04 9.99904697e-01 -5.02053708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28241403699997 meters 0.09529423992587975 Centerline is valid? [True, True] Translation: X:228.37, Y:-18.44, Z:-5.02 [[ 9.99532808e-01 2.65819929e-02 1.50852061e-02 2.28373947e+02] [-2.65617145e-02 9.99645984e-01 -1.54305916e-03 -1.84392175e+01] [-1.51208833e-02 1.14164932e-03 9.99885021e-01 -5.02290259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34241403699997 meters 0.09321315868023072 Centerline is valid? [True, True] Translation: X:228.44, Y:-18.42, Z:-5.02 [[ 9.99413363e-01 2.84374629e-02 1.90850778e-02 2.28436040e+02] [-2.84053360e-02 9.99594580e-01 -1.95238211e-03 -1.84223848e+01] [-1.91328611e-02 1.40911873e-03 9.99815957e-01 -5.02173026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40241403699997 meters 0.08432082504248843 Centerline is valid? [True, True] Translation: X:228.50, Y:-18.39, Z:-5.02 [[ 9.98799128e-01 4.39745032e-02 2.15996471e-02 2.28499933e+02] [-4.39369760e-02 9.99031862e-01 -2.20913412e-03 -1.83940270e+01] [-2.16758812e-02 1.25745806e-03 9.99764260e-01 -5.01864723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.462414037 meters 0.08111036721655025 Centerline is valid? [True, True] Translation: X:228.56, Y:-18.39, Z:-5.03 [[ 9.98491137e-01 5.11738017e-02 1.99171210e-02 2.28560196e+02] [-5.11433209e-02 9.98689246e-01 -2.03708620e-03 -1.83896818e+01] [-1.99952600e-02 1.01538480e-03 9.99799559e-01 -5.02603770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.522414037 meters 0.08432053758983891 Centerline is valid? [True, True] Translation: X:228.62, Y:-18.41, Z:-5.04 [[ 9.98604932e-01 4.96735588e-02 1.79088447e-02 2.28616673e+02] [-4.96486790e-02 9.98765065e-01 -1.83146493e-03 -1.84084951e+01] [-1.79777038e-02 9.39759434e-04 9.99837946e-01 -5.03636134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.582414037 meters 0.08371726712810429 Centerline is valid? [True, True] Translation: X:228.68, Y:-18.41, Z:-5.04 [[ 9.98641972e-01 4.91601859e-02 1.72478482e-02 2.28675346e+02] [-4.91370151e-02 9.98790488e-01 -1.76487974e-03 -1.84146925e+01] [-1.73137485e-02 9.14975211e-04 9.99849687e-01 -5.03845744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.642414037 meters 0.08366703692567215 Centerline is valid? [True, True] Translation: X:228.73, Y:-18.42, Z:-5.04 [[ 9.98457470e-01 5.21576966e-02 1.90330017e-02 2.28733756e+02] [-5.21301542e-02 9.98638413e-01 -1.94070686e-03 -1.84199243e+01] [-1.91083094e-02 9.45519947e-04 9.99816973e-01 -5.03610532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.702414037 meters 0.08166595662330205 Centerline is valid? [True, True] Translation: X:228.79, Y:-18.42, Z:-5.04 [[ 9.98422053e-01 5.20205460e-02 2.11486823e-02 2.28792421e+02] [-5.19865099e-02 9.98645459e-01 -2.15635584e-03 -1.84211470e+01] [-2.12322104e-02 1.05350705e-03 9.99774016e-01 -5.03632370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.762414037 meters 0.08129257154854147 Centerline is valid? [True, True] Translation: X:228.85, Y:-18.43, Z:-5.04 [[ 9.98238004e-01 5.44800591e-02 2.35119385e-02 2.28851306e+02] [-5.44388455e-02 9.98514247e-01 -2.38987836e-03 -1.84283105e+01] [-2.36072063e-02 1.10570462e-03 9.99720700e-01 -5.03820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822414037 meters 0.08016333678837767 Centerline is valid? [True, True] Translation: X:228.91, Y:-18.43, Z:-5.04 [[ 9.98131853e-01 5.66771609e-02 2.28145356e-02 2.28910233e+02] [-5.66389280e-02 9.98392034e-01 -2.31903797e-03 -1.84309491e+01] [-2.29092871e-02 1.02251483e-03 9.99737025e-01 -5.04111592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.882414037 meters 0.07786993413919369 Centerline is valid? [True, True] Translation: X:228.97, Y:-18.43, Z:-5.04 [[ 9.97702452e-01 6.35458464e-02 2.34892127e-02 2.28971217e+02] [-6.35073685e-02 9.97978529e-01 -2.38122312e-03 -1.84294825e+01] [-2.35930468e-02 8.84014057e-04 9.99721254e-01 -5.04268722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942414037 meters 0.07590528754931661 Centerline is valid? [True, True] Translation: X:229.03, Y:-18.43, Z:-5.05 [[ 9.97104652e-01 7.21873818e-02 2.39017743e-02 2.29031734e+02] [-7.21500212e-02 9.97390848e-01 -2.42292277e-03 -1.84279865e+01] [-2.40143154e-02 6.91394037e-04 9.99711376e-01 -5.04530204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002414037 meters 0.07514642898405152 Centerline is valid? [True, True] Translation: X:229.09, Y:-18.43, Z:-5.05 [[ 9.96797681e-01 7.63587228e-02 2.37429851e-02 2.29090758e+02] [-7.63230345e-02 9.97080238e-01 -2.40701451e-03 -1.84326830e+01] [-2.38574578e-02 5.87169804e-04 9.99715198e-01 -5.04859158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062414037 meters 0.07459568890945499 Centerline is valid? [True, True] Translation: X:229.15, Y:-18.44, Z:-5.05 [[ 9.96591708e-01 7.91982440e-02 2.30782516e-02 2.29149195e+02] [-7.91653328e-02 9.96858759e-01 -2.33765202e-03 -1.84354040e+01] [-2.31908952e-02 5.02687153e-04 9.99730929e-01 -5.05047913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122414037 meters 0.07416473094351737 Centerline is valid? [True, True] Translation: X:229.21, Y:-18.44, Z:-5.05 [[ 9.96444308e-01 8.09875725e-02 2.32326144e-02 2.29207471e+02] [-8.09548392e-02 9.96715006e-01 -2.34756447e-03 -1.84381733e+01] [-2.33464190e-02 4.58424687e-04 9.99727330e-01 -5.05109337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182414037 meters 0.07435068770762773 Centerline is valid? [True, True] Translation: X:229.26, Y:-18.44, Z:-5.05 [[ 9.96456644e-01 8.08261756e-02 2.32655443e-02 2.29264979e+02] [-8.07934359e-02 9.96728107e-01 -2.34531234e-03 -1.84443825e+01] [-2.33789845e-02 4.57298800e-04 9.99726570e-01 -5.05348499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242414037 meters 0.07411035963809819 Centerline is valid? [True, True] Translation: X:229.32, Y:-18.45, Z:-5.05 [[ 9.96424691e-01 8.11353072e-02 2.35562470e-02 2.29323336e+02] [-8.11019896e-02 9.96702995e-01 -2.36789496e-03 -1.84502672e+01] [-2.36707018e-02 4.48970504e-04 9.99719709e-01 -5.05474127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302414037 meters 0.07421031371145115 Centerline is valid? [True, True] Translation: X:229.38, Y:-18.46, Z:-5.06 [[ 9.96537131e-01 8.05064639e-02 2.07955541e-02 2.29380294e+02] [-8.04804704e-02 9.96754005e-01 -2.08521512e-03 -1.84579234e+01] [-2.08959252e-02 4.04358317e-04 9.99781575e-01 -5.05842566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362414037 meters 0.07387424742964126 Centerline is valid? [True, True] Translation: X:229.44, Y:-18.46, Z:-5.06 [[ 9.96630193e-01 7.97988489e-02 1.89842577e-02 2.29438935e+02] [-7.97770619e-02 9.96810914e-01 -1.90341118e-03 -1.84646100e+01] [-1.90756053e-02 3.82488749e-04 9.99817971e-01 -5.06024342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422414037 meters 0.07409802391546463 Centerline is valid? [True, True] Translation: X:229.50, Y:-18.47, Z:-5.06 [[ 9.96666752e-01 7.98289067e-02 1.68146193e-02 2.29496323e+02] [-7.98119005e-02 9.96808524e-01 -1.68109833e-03 -1.84742312e+01] [-1.68951561e-02 3.33488094e-04 9.99857211e-01 -5.06323267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482414037 meters 0.07430361119151767 Centerline is valid? [True, True] Translation: X:229.55, Y:-18.48, Z:-5.07 [[ 9.96830709e-01 7.81810235e-02 1.47059460e-02 2.29552832e+02] [-7.81678391e-02 9.96939129e-01 -1.47008522e-03 -1.84847901e+01] [-1.47758657e-02 3.15894078e-04 9.99890781e-01 -5.06621461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54241403699996 meters 0.07362518296716533 Centerline is valid? [True, True] Translation: X:229.61, Y:-18.49, Z:-5.07 [[ 9.96889071e-01 7.79323704e-02 1.17782135e-02 2.29611209e+02] [-7.79238888e-02 9.96958615e-01 -1.17801338e-03 -1.84888231e+01] [-1.18341968e-02 2.56544461e-04 9.99929941e-01 -5.06773387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60241403699996 meters 0.07378692935775867 Centerline is valid? [True, True] Translation: X:229.67, Y:-18.50, Z:-5.07 [[ 9.96859996e-01 7.86754591e-02 8.96222173e-03 2.29668699e+02] [-7.86706093e-02 9.96900265e-01 -8.92943821e-04 -1.84954216e+01] [-9.00469398e-03 1.85076529e-04 9.99959440e-01 -5.07134160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66241403699996 meters 0.0727875342490591 Centerline is valid? [True, True] Translation: X:229.73, Y:-18.50, Z:-5.07 [[ 9.96700794e-01 8.10566092e-02 4.16573167e-03 2.29727955e+02] [-8.10555630e-02 9.96709496e-01 -4.19627305e-04 -1.84950839e+01] [-4.18603788e-03 8.05871425e-05 9.99991235e-01 -5.07179817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72241403699996 meters 0.07232481035125192 Centerline is valid? [True, True] Translation: X:229.79, Y:-18.50, Z:-5.07 [[ 9.96475579e-01 8.38305569e-02 2.97642015e-03 2.29785973e+02] [-8.38300319e-02 9.96480022e-01 -3.00920836e-04 -1.84990850e+01] [-2.99116958e-03 5.03468679e-05 9.99995525e-01 -5.07349702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78241403699997 meters 0.07157655443257155 Centerline is valid? [True, True] Translation: X:229.84, Y:-18.50, Z:-5.07 [[ 9.96380272e-01 8.49595479e-02 2.86867412e-03 2.29844910e+02] [-8.49590663e-02 9.96384400e-01 -2.89535468e-04 -1.85032542e+01] [-2.88290095e-03 4.47675536e-05 9.99995843e-01 -5.07038694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84241403699997 meters 0.07116720524367338 Centerline is valid? [True, True] Translation: X:229.90, Y:-18.51, Z:-5.07 [[ 9.96354276e-01 8.52939414e-02 1.76064932e-03 2.29902765e+02] [-8.52937567e-02 9.96355831e-01 -1.79867707e-04 -1.85101622e+01] [-1.76957484e-03 2.90395650e-05 9.99998434e-01 -5.07105992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90241403699997 meters 0.07123897903580442 Centerline is valid? [True, True] Translation: X:229.96, Y:-18.52, Z:-5.08 [[ 9.96415946e-01 8.45777197e-02 -1.36824678e-03 2.29960348e+02] [-8.45776172e-02 9.96416885e-01 1.32637993e-04 -1.85178067e+01] [ 1.37456241e-03 -1.64395588e-05 9.99999055e-01 -5.07512782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.962414037 meters 0.07152882344593577 Centerline is valid? [True, True] Translation: X:230.02, Y:-18.52, Z:-5.08 [[ 9.96438574e-01 8.42717478e-02 -2.90518400e-03 2.30017642e+02] [-8.42712804e-02 9.96442809e-01 2.83139835e-04 -1.85245409e+01] [ 2.91871040e-03 -3.73078773e-05 9.99995740e-01 -5.07718592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.022414037 meters 0.07093805867775066 Centerline is valid? [True, True] Translation: X:230.08, Y:-18.53, Z:-5.08 [[ 9.96386726e-01 8.48017648e-02 -4.70670336e-03 2.30076158e+02] [-8.48005617e-02 9.96397841e-01 4.54960555e-04 -1.85295943e+01] [ 4.72833053e-03 -5.41855693e-05 9.99988820e-01 -5.07719453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.082414037 meters 0.0705175414422383 Centerline is valid? [True, True] Translation: X:230.13, Y:-18.53, Z:-5.08 [[ 9.96302551e-01 8.57868087e-02 -4.67441306e-03 2.30134472e+02] [-8.57856377e-02 9.96313515e-01 4.50814360e-04 -1.85348380e+01] [ 4.69585483e-03 -4.81499926e-05 9.99988973e-01 -5.07776333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.142414037 meters 0.07050644346869714 Centerline is valid? [True, True] Translation: X:230.19, Y:-18.54, Z:-5.08 [[ 9.96332357e-01 8.53499627e-02 -6.10072930e-03 2.30192032e+02] [-8.53479264e-02 9.96351032e-01 5.93824463e-04 -1.85437734e+01] [ 6.12915083e-03 -7.09619314e-05 9.99981214e-01 -5.08001347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.202414037 meters 0.07055847870495896 Centerline is valid? [True, True] Translation: X:230.25, Y:-18.55, Z:-5.08 [[ 9.96415355e-01 8.42400361e-02 -7.74962347e-03 2.30249805e+02] [-8.42367178e-02 9.96445486e-01 7.54189451e-04 -1.85524066e+01] [ 7.78561027e-03 -9.86831046e-05 9.99969687e-01 -5.07925036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.262414037 meters 0.07073933684794911 Centerline is valid? [True, True] Translation: X:230.31, Y:-18.56, Z:-5.08 [[ 9.96596792e-01 8.20015851e-02 -8.40090535e-03 2.30307823e+02] [-8.19976561e-02 9.96632192e-01 8.11645762e-04 -1.85601696e+01] [ 8.43916895e-03 -1.20029015e-04 9.99964382e-01 -5.07913852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322414037 meters 0.07076009894809923 Centerline is valid? [True, True] Translation: X:230.37, Y:-18.57, Z:-5.08 [[ 9.96672836e-01 8.10804643e-02 -8.31957307e-03 2.30366539e+02] [-8.10765949e-02 9.96707551e-01 8.01873908e-04 -1.85675801e+01] [ 8.35719761e-03 -1.24683287e-04 9.99965070e-01 -5.07966019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382414037 meters 0.07096337246260898 Centerline is valid? [True, True] Translation: X:230.42, Y:-18.58, Z:-5.08 [[ 9.96901886e-01 7.83607760e-02 -6.79836975e-03 2.30424563e+02] [-7.83581481e-02 9.96925060e-01 6.52458085e-04 -1.85781657e+01] [ 6.82859229e-03 -1.17729032e-04 9.99976678e-01 -5.07918699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442414037 meters 0.07177254282078094 Centerline is valid? [True, True] Translation: X:230.48, Y:-18.59, Z:-5.08 [[ 9.97269618e-01 7.35306368e-02 -6.82314620e-03 2.30482860e+02] [-7.35278405e-02 9.97292946e-01 6.60101962e-04 -1.85921121e+01] [ 6.85321329e-03 -1.56608426e-04 9.99976504e-01 -5.08120141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502414037 meters 0.07309335790936355 Centerline is valid? [True, True] Translation: X:230.54, Y:-18.60, Z:-5.08 [[ 9.97659914e-01 6.79438024e-02 -7.63775771e-03 2.30541956e+02] [-6.79401317e-02 9.97689126e-01 7.39330851e-04 -1.86044781e+01] [ 7.67034076e-03 -2.18690488e-04 9.99970559e-01 -5.08286175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562414037 meters 0.07541770839192286 Centerline is valid? [True, True] Translation: X:230.60, Y:-18.62, Z:-5.09 [[ 9.98036984e-01 6.20165483e-02 -8.72499486e-03 2.30599872e+02] [-6.20115366e-02 9.98075076e-01 8.44028105e-04 -1.86183886e+01] [ 8.76054362e-03 -3.01320926e-04 9.99961580e-01 -5.08776157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622414037 meters 0.07627340685859095 Centerline is valid? [True, True] Translation: X:230.66, Y:-18.63, Z:-5.09 [[ 9.98353553e-01 5.66904765e-02 -8.73915050e-03 2.30659071e+02] [-5.66852429e-02 9.98391741e-01 8.45606897e-04 -1.86278378e+01] [ 8.77303354e-03 -3.48833781e-04 9.99961455e-01 -5.08804699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682414037 meters 0.079229738490781 Centerline is valid? [True, True] Translation: X:230.72, Y:-18.64, Z:-5.09 [[ 9.98618818e-01 5.20806169e-02 -6.93287852e-03 2.30716275e+02] [-5.20772281e-02 9.98642837e-01 6.68556383e-04 -1.86420440e+01] [ 6.95828831e-03 -3.06587889e-04 9.99975744e-01 -5.09173154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742414037 meters 0.0787897653495501 Centerline is valid? [True, True] Translation: X:230.77, Y:-18.65, Z:-5.09 [[ 9.98768641e-01 4.93134409e-02 -5.42095441e-03 2.30774852e+02] [-4.93113602e-02 9.98783321e-01 5.16896721e-04 -1.86461054e+01] [ 5.43984881e-03 -2.48945600e-04 9.99985173e-01 -5.08954651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802414037 meters 0.08091522116892055 Centerline is valid? [True, True] Translation: X:230.83, Y:-18.66, Z:-5.09 [[ 9.98907834e-01 4.63484327e-02 -5.91278346e-03 2.30834454e+02] [-4.63458683e-02 9.98925290e-01 5.70067585e-04 -1.86560282e+01] [ 5.93285067e-03 -2.95411894e-04 9.99982357e-01 -5.09276555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862414037 meters 0.08332528597282164 Centerline is valid? [True, True] Translation: X:230.89, Y:-18.67, Z:-5.10 [[ 9.99059589e-01 4.31338741e-02 -4.40527585e-03 2.30891953e+02] [-4.31324271e-02 9.99069274e-01 4.23014148e-04 -1.86655271e+01] [ 4.41942198e-03 -2.32606102e-04 9.99990207e-01 -5.09588783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922414037 meters 0.08534522123656972 Centerline is valid? [True, True] Translation: X:230.95, Y:-18.67, Z:-5.10 [[ 9.99237559e-01 3.88744682e-02 -3.61616103e-03 2.30951071e+02] [-3.88734619e-02 9.99244081e-01 3.48181284e-04 -1.86746716e+01] [ 3.62696287e-03 -2.07343118e-04 9.99993401e-01 -5.09826474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982414037 meters 0.08813725158925789 Centerline is valid? [True, True] Translation: X:231.01, Y:-18.68, Z:-5.10 [[ 9.99403396e-01 3.44343264e-02 -2.67019908e-03 2.31010343e+02] [-3.44337616e-02 9.99406949e-01 2.57232928e-04 -1.86841268e+01] [ 2.67747315e-03 -1.65134464e-04 9.99996402e-01 -5.10189769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04241403699996 meters 0.09193881209438001 Centerline is valid? [True, True] Translation: X:231.07, Y:-18.69, Z:-5.10 [[ 9.99540873e-01 3.02963791e-02 4.15844835e-04 2.31068881e+02] [-3.02963649e-02 9.99540959e-01 -4.04391028e-05 -1.86947577e+01] [-4.16879103e-04 2.78219492e-05 9.99999913e-01 -5.10475752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10241403699996 meters 0.09444261763568564 Centerline is valid? [True, True] Translation: X:231.13, Y:-18.70, Z:-5.11 [[ 9.99661865e-01 2.58141321e-02 3.12831386e-03 2.31128509e+02] [-2.58133139e-02 9.99666735e-01 -3.01620967e-04 -1.87013021e+01] [-3.13505739e-03 2.20766831e-04 9.99995061e-01 -5.10609006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16241403699996 meters 0.09471756382343931 Centerline is valid? [True, True] Translation: X:231.19, Y:-18.70, Z:-5.11 [[ 9.99756579e-01 2.11963576e-02 6.12351851e-03 2.31188925e+02] [-2.11931379e-02 9.99775226e-01 -5.90225722e-04 -1.87034186e+01] [-6.13465274e-03 4.60305476e-04 9.99981077e-01 -5.10626168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22241403699996 meters 0.09971819183862494 Centerline is valid? [True, True] Translation: X:231.25, Y:-18.72, Z:-5.11 [[ 9.99846726e-01 1.56440926e-02 7.86047211e-03 2.31247447e+02] [-1.56386149e-02 9.99877422e-01 -7.57843997e-04 -1.87151659e+01] [-7.87136438e-03 6.34800943e-04 9.99968819e-01 -5.10941343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28241403699997 meters 0.10208523732470487 Centerline is valid? [True, False] Translation: X:231.25, Y:-18.71, Z:-5.11 [[ 9.99848338e-01 1.53315810e-02 8.26093222e-03 2.31246767e+02] [-1.53250219e-02 9.99882198e-01 -8.56702871e-04 -1.87146156e+01] [-8.27309367e-03 7.29973974e-04 9.99965511e-01 -5.10986453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34241403699997 meters 0.10376609375686871 Centerline is valid? [False, False] Translation: X:231.25, Y:-18.71, Z:-5.11 [[ 9.99844222e-01 1.57467528e-02 7.97312360e-03 2.31248164e+02] [-1.57413303e-02 9.99875822e-01 -7.42400683e-04 -1.87139275e+01] [-7.98382391e-03 6.16777462e-04 9.99967939e-01 -5.11071314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40241403699997 meters 0.09512387731852144 Centerline is valid? [False, True] Translation: X:231.25, Y:-18.71, Z:-5.11 [[ 9.99838645e-01 1.66899020e-02 6.64309613e-03 2.31251430e+02] [-1.66804561e-02 9.99859784e-01 -1.47479599e-03 -1.87116719e+01] [-6.66677886e-03 1.36374815e-03 9.99976847e-01 -5.11012293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.462414037 meters 0.0947658897232126 Centerline is valid? [True, True] Translation: X:231.31, Y:-18.72, Z:-5.11 [[ 9.99784339e-01 1.88825850e-02 8.64424810e-03 2.31310944e+02] [-1.88763015e-02 9.99821500e-01 -8.07914260e-04 -1.87167486e+01] [-8.65796062e-03 6.44568591e-04 9.99962311e-01 -5.11128321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.522414037 meters 0.08816258572709353 Centerline is valid? [True, True] Translation: X:231.37, Y:-18.71, Z:-5.11 [[ 9.99619496e-01 2.54780969e-02 1.05702175e-02 2.31372198e+02] [-2.54690707e-02 9.99675123e-01 -9.87688063e-04 -1.87057014e+01] [-1.05919479e-02 7.18098628e-04 9.99943646e-01 -5.11159802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.582414037 meters 0.08466298738217799 Centerline is valid? [True, True] Translation: X:231.43, Y:-18.70, Z:-5.11 [[ 9.99317609e-01 3.45764014e-02 1.29918656e-02 2.31433161e+02] [-3.45635365e-02 9.99401766e-01 -1.21352910e-03 -1.87018761e+01] [-1.30260529e-02 7.63656174e-04 9.99914866e-01 -5.11119879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.642414037 meters 0.08156393386960246 Centerline is valid? [True, True] Translation: X:231.49, Y:-18.70, Z:-5.11 [[ 9.98923634e-01 4.36178031e-02 1.57816656e-02 2.31493998e+02] [-4.35999449e-02 9.99047983e-01 -1.47404299e-03 -1.86988494e+01] [-1.58309357e-02 7.84376630e-04 9.99874375e-01 -5.11153107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.702414037 meters 0.07978498556492926 Centerline is valid? [True, True] Translation: X:231.55, Y:-18.70, Z:-5.11 [[ 9.98671556e-01 4.88902317e-02 1.62748091e-02 2.31554779e+02] [-4.88719400e-02 9.98803896e-01 -1.51999297e-03 -1.86997893e+01] [-1.63296556e-02 7.22592249e-04 9.99866401e-01 -5.11293711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.762414037 meters 0.07671470644076751 Centerline is valid? [True, True] Translation: X:231.62, Y:-18.70, Z:-5.11 [[ 9.98172919e-01 5.81176174e-02 1.65277296e-02 2.31615060e+02] [-5.81000163e-02 9.98309574e-01 -1.54352602e-03 -1.86952030e+01] [-1.65894967e-02 5.80444520e-04 9.99862216e-01 -5.11466100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.822414037 meters 0.07444161330723455 Centerline is valid? [True, True] Translation: X:231.68, Y:-18.69, Z:-5.11 [[ 9.97521661e-01 6.81095584e-02 1.76528980e-02 2.31675780e+02] [-6.80910511e-02 9.97677750e-01 -1.64803620e-03 -1.86912974e+01] [-1.77241506e-02 4.41947419e-04 9.99842817e-01 -5.11412836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882414037 meters 0.07278040848793571 Centerline is valid? [True, True] Translation: X:231.74, Y:-18.69, Z:-5.11 [[ 9.96784195e-01 7.79307331e-02 1.86566142e-02 2.31736253e+02] [-7.79117818e-02 9.96958736e-01 -1.74160728e-03 -1.86872525e+01] [-1.87355992e-02 2.82436556e-04 9.99824433e-01 -5.11426648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942414037 meters 0.07216413641837496 Centerline is valid? [True, True] Translation: X:231.80, Y:-18.69, Z:-5.12 [[ 9.96469910e-01 8.19483563e-02 1.82259784e-02 2.31795487e+02] [-8.19309469e-02 9.96636557e-01 -1.70110892e-03 -1.86892742e+01] [-1.83040795e-02 2.01832179e-04 9.99832446e-01 -5.11602946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002414037 meters 0.07176970381168284 Centerline is valid? [True, True] Translation: X:231.85, Y:-18.69, Z:-5.12 [[ 9.96015317e-01 8.71385262e-02 1.89832833e-02 2.31853398e+02] [-8.71206695e-02 9.96196199e-01 -1.76720025e-03 -1.86918144e+01] [-1.90650659e-02 1.06322167e-04 9.99818239e-01 -5.11769573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062414037 meters 0.0716758383468083 Centerline is valid? [True, True] Translation: X:231.91, Y:-18.69, Z:-5.12 [[ 9.95645873e-01 9.13298453e-02 1.86588935e-02 2.31911735e+02] [-9.13133550e-02 9.95820696e-01 -1.73563652e-03 -1.86933057e+01] [-1.87394277e-02 2.42731725e-05 9.99824401e-01 -5.11859488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122414037 meters 0.07149707848197155 Centerline is valid? [True, True] Translation: X:231.97, Y:-18.70, Z:-5.12 [[ 9.95526854e-01 9.26667230e-02 1.84163617e-02 2.31969559e+02] [-9.26509638e-02 9.95697182e-01 -1.70894280e-03 -1.86966644e+01] [-1.84954815e-02 -4.99521027e-06 9.99828944e-01 -5.11956634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182414037 meters 0.07134115764764128 Centerline is valid? [True, True] Translation: X:232.03, Y:-18.70, Z:-5.12 [[ 9.95448993e-01 9.34046239e-02 1.88912071e-02 2.32027557e+02] [-9.33882706e-02 9.95628232e-01 -1.74792850e-03 -1.87001044e+01] [-1.89718838e-02 -2.42435016e-05 9.99820017e-01 -5.12136250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242414037 meters 0.07095271076355256 Centerline is valid? [True, True] Translation: X:232.09, Y:-18.70, Z:-5.12 [[ 9.95404908e-01 9.41066302e-02 1.76920989e-02 2.32085890e+02] [-9.40924781e-02 9.95562123e-01 -1.63248067e-03 -1.87002000e+01] [-1.77672108e-02 -3.97141623e-05 9.99842150e-01 -5.12226115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302414037 meters 0.07074413213523105 Centerline is valid? [True, True] Translation: X:232.14, Y:-18.71, Z:-5.12 [[ 9.95727749e-01 9.07049889e-02 1.72874362e-02 2.32143763e+02] [-9.06910434e-02 9.95877806e-01 -1.59056990e-03 -1.87069528e+01] [-1.73604467e-02 1.59589573e-05 9.99849296e-01 -5.12358073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362414037 meters 0.071007747710346 Centerline is valid? [True, True] Translation: X:232.20, Y:-18.72, Z:-5.13 [[ 9.96390907e-01 8.33983019e-02 1.58077341e-02 2.32201591e+02] [-8.33857839e-02 9.96516285e-01 -1.45050439e-03 -1.87186507e+01] [-1.58736341e-02 1.27129085e-04 9.99873998e-01 -5.12646353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422414037 meters 0.07097251753807146 Centerline is valid? [True, True] Translation: X:232.26, Y:-18.73, Z:-5.13 [[ 9.96880998e-01 7.76678654e-02 1.39992193e-02 2.32259204e+02] [-7.76575210e-02 9.96979271e-01 -1.28183571e-03 -1.87281067e+01] [-1.40564889e-02 1.90692994e-04 9.99901184e-01 -5.12814147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482414037 meters 0.07104530104094796 Centerline is valid? [True, True] Translation: X:232.32, Y:-18.74, Z:-5.13 [[ 9.97281458e-01 7.24893725e-02 1.32281477e-02 2.32317805e+02] [-7.24797191e-02 9.97369154e-01 -1.20834872e-03 -1.87356949e+01] [-1.32809389e-02 2.46291338e-04 9.99911774e-01 -5.12771423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54241403699996 meters 0.07187991548837454 Centerline is valid? [True, True] Translation: X:232.38, Y:-18.75, Z:-5.13 [[ 9.97551811e-01 6.89533090e-02 1.16544509e-02 2.32375176e+02] [-6.89456185e-02 9.97619856e-01 -1.06084840e-03 -1.87467920e+01] [-1.16998607e-02 2.54727914e-04 9.99931522e-01 -5.12978858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60241403699996 meters 0.07148444146125704 Centerline is valid? [True, True] Translation: X:232.43, Y:-18.75, Z:-5.13 [[ 9.97598825e-01 6.82503131e-02 1.17677148e-02 2.32433994e+02] [-6.82424163e-02 9.97668193e-01 -1.07177126e-03 -1.87515448e+01] [-1.18134235e-02 2.66140459e-04 9.99930184e-01 -5.13125995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66241403699996 meters 0.0705811074417565 Centerline is valid? [True, True] Translation: X:232.49, Y:-18.75, Z:-5.13 [[ 9.97396098e-01 7.11154863e-02 1.19837917e-02 2.32492375e+02] [-7.11075395e-02 9.97468061e-01 -1.08845507e-03 -1.87533929e+01] [-1.20308555e-02 2.33482895e-04 9.99927599e-01 -5.13232049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72241403699996 meters 0.06956678180880395 Centerline is valid? [True, True] Translation: X:232.55, Y:-18.75, Z:-5.13 [[ 9.96946555e-01 7.71388069e-02 1.21313766e-02 2.32552220e+02] [-7.71311467e-02 9.97020350e-01 -1.09873773e-03 -1.87502464e+01] [-1.21799846e-02 1.59675812e-04 9.99925808e-01 -5.13169508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78241403699997 meters 0.06884364061232592 Centerline is valid? [True, True] Translation: X:232.61, Y:-18.75, Z:-5.13 [[ 9.96268111e-01 8.56270603e-02 1.08562421e-02 2.32611197e+02] [-8.56214493e-02 9.96327258e-01 -9.81431209e-04 -1.87475103e+01] [-1.09004070e-02 4.82414337e-05 9.99940588e-01 -5.13208515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84241403699997 meters 0.06904278630563179 Centerline is valid? [True, True] Translation: X:232.67, Y:-18.75, Z:-5.13 [[ 9.95653800e-01 9.25983286e-02 9.95284541e-03 2.32668807e+02] [-9.25939772e-02 9.95703545e-01 -8.98096918e-04 -1.87477465e+01] [-9.99324573e-03 -2.73799315e-05 9.99950066e-01 -5.13272962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90241403699997 meters 0.06978061403827249 Centerline is valid? [True, True] Translation: X:232.73, Y:-18.75, Z:-5.13 [[ 9.94936620e-01 1.00091010e-01 9.10564156e-03 2.32726353e+02] [-1.00087711e-01 9.94978281e-01 -8.18354403e-04 -1.87474340e+01] [-9.14182551e-03 -9.71520612e-05 9.99958208e-01 -5.13385593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.962414037 meters 0.07114914630673073 Centerline is valid? [True, True] Translation: X:232.79, Y:-18.75, Z:-5.13 [[ 9.94065444e-01 1.08456647e-01 8.42908472e-03 2.32786460e+02] [-1.08454140e-01 9.94101166e-01 -7.55277908e-04 -1.87457246e+01] [-8.46127786e-03 -1.63373466e-04 9.99964189e-01 -5.13441621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.022414037 meters 0.07207472676408684 Centerline is valid? [True, True] Translation: X:232.85, Y:-18.75, Z:-5.13 [[ 9.93295745e-01 1.15348708e-01 7.63142290e-03 2.32846909e+02] [-1.15346859e-01 9.93325040e-01 -6.83445069e-04 -1.87454210e+01] [-7.65931796e-03 -2.01397585e-04 9.99970647e-01 -5.13483556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082414037 meters 0.07238897940746711 Centerline is valid? [True, True] Translation: X:232.91, Y:-18.75, Z:-5.14 [[ 9.92945186e-01 1.18410823e-01 6.22376138e-03 2.32906282e+02] [-1.18409652e-01 9.92964674e-01 -5.57548956e-04 -1.87491349e+01] [-6.24599502e-03 -1.83337871e-04 9.99980477e-01 -5.13516567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142414037 meters 0.07224337832579208 Centerline is valid? [True, True] Translation: X:232.96, Y:-18.76, Z:-5.14 [[ 9.93216121e-01 1.16081874e-01 6.83636081e-03 2.32964691e+02] [-1.16080406e-01 9.93239631e-01 -6.12547165e-04 -1.87553244e+01] [-6.86125011e-03 -1.85175817e-04 9.99976444e-01 -5.13553262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.202414037 meters 0.07130360372945072 Centerline is valid? [True, True] Translation: X:233.02, Y:-18.77, Z:-5.14 [[ 9.94041192e-01 1.08809031e-01 6.53470485e-03 2.33023818e+02] [-1.08807538e-01 9.94062663e-01 -5.84582635e-04 -1.87660605e+01] [-6.55951397e-03 -1.29925929e-04 9.99978478e-01 -5.13665587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.262414037 meters 0.07024887734437177 Centerline is valid? [True, True] Translation: X:233.08, Y:-18.78, Z:-5.14 [[ 9.95117565e-01 9.85563595e-02 5.26076306e-03 2.33082370e+02] [-9.85552475e-02 9.95131469e-01 -4.70829581e-04 -1.87815285e+01] [-5.28155413e-03 -4.99450192e-05 9.99986051e-01 -5.13891772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.322414037 meters 0.0700834171866169 Centerline is valid? [True, True] Translation: X:233.14, Y:-18.80, Z:-5.14 [[ 9.96128711e-01 8.78512789e-02 3.12153500e-03 2.33139678e+02] [-8.78508247e-02 9.96133602e-01 -2.82598389e-04 -1.87970104e+01] [-3.13429253e-03 7.27494549e-06 9.99995088e-01 -5.14194886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382414037 meters 0.07021408411322505 Centerline is valid? [True, True] Translation: X:233.20, Y:-18.81, Z:-5.14 [[ 9.96366815e-01 8.50974896e-02 3.40409623e-03 2.33197466e+02] [-8.50969352e-02 9.96372630e-01 -3.07627096e-04 -1.88052418e+01] [-3.41792660e-03 1.68312731e-05 9.99994159e-01 -5.14378194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442414037 meters 0.07097636349964277 Centerline is valid? [True, True] Translation: X:233.26, Y:-18.82, Z:-5.15 [[ 9.97123511e-01 7.57405349e-02 2.84167588e-03 2.33255806e+02] [-7.57401208e-02 9.97127560e-01 -2.53233614e-04 -1.88201100e+01] [-2.85269338e-03 3.72763164e-05 9.99995930e-01 -5.14542925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502414037 meters 0.07236375632411844 Centerline is valid? [True, True] Translation: X:233.32, Y:-18.83, Z:-5.15 [[ 9.97882009e-01 6.49760493e-02 3.09984683e-03 2.33315004e+02] [-6.49755058e-02 9.97886821e-01 -2.75822685e-04 -1.88346552e+01] [-3.11121817e-03 7.38243790e-05 9.99995157e-01 -5.14624934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562414037 meters 0.0745368719164439 Centerline is valid? [True, True] Translation: X:233.37, Y:-18.85, Z:-5.15 [[ 9.98304635e-01 5.80440347e-02 4.32956370e-03 2.33372759e+02] [-5.80429106e-02 9.98314015e-01 -3.84932228e-04 -1.88494760e+01] [-4.34460714e-03 1.32979148e-04 9.99990553e-01 -5.14901220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622414037 meters 0.07813141247422807 Centerline is valid? [True, True] Translation: X:233.43, Y:-18.86, Z:-5.15 [[ 9.98919646e-01 4.62096878e-02 4.91985968e-03 2.33431476e+02] [-4.62080940e-02 9.98931740e-01 -4.37182627e-04 -1.88637263e+01] [-4.93480606e-03 2.09372976e-04 9.99987802e-01 -5.14996796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682414037 meters 0.08015971675451519 Centerline is valid? [True, True] Translation: X:233.49, Y:-18.87, Z:-5.15 [[ 9.99145513e-01 4.08839707e-02 6.06169944e-03 2.33490998e+02] [-4.08814521e-02 9.99163859e-01 -5.38869563e-04 -1.88711439e+01] [-6.07866213e-03 2.90598030e-04 9.99981483e-01 -5.15164470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742414037 meters 0.08419745653312977 Centerline is valid? [True, True] Translation: X:233.55, Y:-18.88, Z:-5.15 [[ 9.99408670e-01 3.37483978e-02 6.58454822e-03 2.33549454e+02] [-3.37452725e-02 9.99430295e-01 -5.85196193e-04 -1.88830867e+01] [-6.60054640e-03 3.62652775e-04 9.99978150e-01 -5.15446620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802414037 meters 0.08842404467369576 Centerline is valid? [True, True] Translation: X:233.61, Y:-18.90, Z:-5.16 [[ 9.99629984e-01 2.62860355e-02 6.99570932e-03 2.33608225e+02] [-2.62823256e-02 9.99654367e-01 -6.21730005e-04 -1.88962302e+01] [-7.00963419e-03 4.37636444e-04 9.99975336e-01 -5.15736757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862414037 meters 0.09209857536456975 Centerline is valid? [True, True] Translation: X:233.67, Y:-18.91, Z:-5.16 [[ 9.99758974e-01 2.08233853e-02 6.95554580e-03 2.33667586e+02] [-2.08195874e-02 9.99783058e-01 -6.17986052e-04 -1.89085110e+01] [-6.96690541e-03 4.73025508e-04 9.99975619e-01 -5.15953557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922414037 meters 0.09758800234010837 Centerline is valid? [True, True] Translation: X:233.73, Y:-18.92, Z:-5.16 [[ 9.99872067e-01 1.42570179e-02 7.25164504e-03 2.33725390e+02] [-1.42527170e-02 9.99898217e-01 -6.44425843e-04 -1.89227658e+01] [-7.26009454e-03 5.40987756e-04 9.99973499e-01 -5.16310159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98241403699996 meters 0.09968192805307517 Centerline is valid? [True, True] Translation: X:233.79, Y:-18.93, Z:-5.17 [[ 9.99911489e-01 1.14743603e-02 6.73446201e-03 2.33785494e+02] [-1.14705914e-02 9.99934032e-01 -5.97991993e-04 -1.89310279e+01] [-6.74087932e-03 5.20690802e-04 9.99977144e-01 -5.16601869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04241403699996 meters 0.10154886321636931 Centerline is valid? [True, False] Translation: X:233.79, Y:-18.93, Z:-5.17 [[ 9.99914917e-01 1.11415695e-02 6.78406436e-03 2.33785245e+02] [-1.11342769e-02 9.99937394e-01 -1.11177996e-03 -1.89294573e+01] [-6.79602661e-03 1.03614971e-03 9.99976370e-01 -5.16581606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10241403699996 meters 0.10173630410845279 Centerline is valid? [False, False] Translation: X:233.79, Y:-18.93, Z:-5.17 [[ 9.99917699e-01 1.10885244e-02 6.45287239e-03 2.33785866e+02] [-1.10771923e-02 9.99937045e-01 -1.78924001e-03 -1.89276199e+01] [-6.47230618e-03 1.71761304e-03 9.99977579e-01 -5.16524613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16241403699996 meters 0.09757019568339415 Centerline is valid? [False, True] Translation: X:233.79, Y:-18.93, Z:-5.17 [[ 9.99916689e-01 1.14566300e-02 5.94654107e-03 2.33787344e+02] [-1.14452830e-02 9.99932621e-01 -1.93870759e-03 -1.89267661e+01] [-5.96835146e-03 1.87048622e-03 9.99980440e-01 -5.16532923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22241403699996 meters 0.09139842705906925 Centerline is valid? [True, True] Translation: X:233.85, Y:-18.92, Z:-5.17 [[ 9.99864481e-01 1.56803017e-02 5.01467383e-03 2.33849301e+02] [-1.56783250e-02 9.99876994e-01 -4.33268665e-04 -1.89163531e+01] [-5.02085077e-03 3.54588263e-04 9.99987333e-01 -5.16802624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28241403699997 meters 0.09370260831634403 Centerline is valid? [True, True] Translation: X:233.91, Y:-18.92, Z:-5.17 [[ 9.99764489e-01 2.11633650e-02 4.80405921e-03 2.33907615e+02] [-2.11616121e-02 9.99775982e-01 -4.15431713e-04 -1.89229124e+01] [-4.81177495e-03 3.13672236e-04 9.99988374e-01 -5.17255053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34241403699997 meters 0.08667644838212975 Centerline is valid? [True, True] Translation: X:233.97, Y:-18.91, Z:-5.17 [[ 9.99603527e-01 2.79519069e-02 3.38815524e-03 2.33969377e+02] [-2.79510740e-02 9.99609249e-01 -2.92936159e-04 -1.89100482e+01] [-3.39501944e-03 1.98117439e-04 9.99994217e-01 -5.17352307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40241403699997 meters 0.08428958540863436 Centerline is valid? [True, True] Translation: X:234.03, Y:-18.91, Z:-5.17 [[ 9.99390182e-01 3.45605944e-02 4.98282595e-03 2.34028396e+02] [-3.45588765e-02 9.99402571e-01 -4.30467041e-04 -1.89079374e+01] [-4.99472626e-03 2.58003668e-04 9.99987493e-01 -5.17255657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.462414037 meters 0.08305195728223494 Centerline is valid? [True, True] Translation: X:234.09, Y:-18.91, Z:-5.17 [[ 9.99192332e-01 3.94875310e-02 7.44440101e-03 2.34087907e+02] [-3.94838401e-02 9.99220003e-01 -6.42174035e-04 -1.89116397e+01] [-7.46395227e-03 3.47721833e-04 9.99972084e-01 -5.17277940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.522414037 meters 0.07963167139890578 Centerline is valid? [True, True] Translation: X:234.15, Y:-18.91, Z:-5.17 [[ 9.99026721e-01 4.33917076e-02 7.92276244e-03 2.34148847e+02] [-4.33876512e-02 9.99058079e-01 -6.83236941e-04 -1.89081933e+01] [-7.94494664e-03 3.38821908e-04 9.99968381e-01 -5.17168818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.582414037 meters 0.07916475832888702 Centerline is valid? [True, True] Translation: X:234.21, Y:-18.91, Z:-5.17 [[ 9.98750378e-01 4.94618488e-02 7.15591386e-03 2.34208297e+02] [-4.94586953e-02 9.98775979e-01 -6.17084558e-04 -1.89129355e+01] [-7.17767702e-03 2.62391272e-04 9.99974206e-01 -5.17232086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.642414037 meters 0.07646844153846136 Centerline is valid? [True, True] Translation: X:234.27, Y:-18.91, Z:-5.17 [[ 9.98465363e-01 5.51249008e-02 5.30703014e-03 2.34268623e+02] [-5.51232459e-02 9.98479453e-01 -4.57714366e-04 -1.89080185e+01] [-5.32419201e-03 1.64471213e-04 9.99985813e-01 -5.17250077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702414037 meters 0.07472189140995002 Centerline is valid? [True, True] Translation: X:234.33, Y:-18.90, Z:-5.17 [[ 9.97967884e-01 6.35541558e-02 4.57939361e-03 2.34329354e+02] [-6.35530135e-02 9.97978386e-01 -3.94667677e-04 -1.89049583e+01] [-4.59521862e-03 1.02831402e-04 9.99989437e-01 -5.17389361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762414037 meters 0.07355786468615286 Centerline is valid? [True, True] Translation: X:234.39, Y:-18.90, Z:-5.17 [[ 9.97374850e-01 7.22846802e-02 4.28183530e-03 2.34389315e+02] [-7.22837613e-02 9.97384039e-01 -3.69192487e-04 -1.89027698e+01] [-4.29732115e-03 5.87161402e-05 9.99990765e-01 -5.17445293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.822414037 meters 0.0726272286740549 Centerline is valid? [True, True] Translation: X:234.45, Y:-18.90, Z:-5.17 [[ 9.96692122e-01 8.10265122e-02 6.28631942e-03 2.34447609e+02] [-8.10247027e-02 9.96711946e-01 -5.42415388e-04 -1.88996472e+01] [-6.30959969e-03 3.12739824e-05 9.99980094e-01 -5.17327122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882414037 meters 0.07265176208232686 Centerline is valid? [True, True] Translation: X:234.51, Y:-18.90, Z:-5.17 [[ 9.96138389e-01 8.76216037e-02 5.54656022e-03 2.34505784e+02] [-8.76202902e-02 9.96153831e-01 -4.79830880e-04 -1.88982931e+01] [-5.56727076e-03 -8.01325609e-06 9.99984503e-01 -5.17339498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942414037 meters 0.07256203961805405 Centerline is valid? [True, True] Translation: X:234.56, Y:-18.90, Z:-5.17 [[ 9.95866303e-01 9.07361602e-02 4.15411395e-03 2.34564390e+02] [-9.07354523e-02 9.95874966e-01 -3.58948301e-04 -1.89013904e+01] [-4.16954768e-03 -1.94608910e-05 9.99991307e-01 -5.17479221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002414037 meters 0.07275617897140987 Centerline is valid? [True, True] Translation: X:234.62, Y:-18.90, Z:-5.18 [[ 9.95252721e-01 9.72912033e-02 2.53825199e-03 2.34623447e+02] [-9.72909579e-02 9.95255958e-01 -2.20260619e-04 -1.89016136e+01] [-2.54763983e-03 -2.77339872e-05 9.99996754e-01 -5.17681353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062414037 meters 0.07311654057985671 Centerline is valid? [True, True] Translation: X:234.68, Y:-18.90, Z:-5.18 [[ 9.94844172e-01 1.01382816e-01 2.56853603e-03 2.34681408e+02] [-1.01382584e-01 9.94847487e-01 -2.20656664e-04 -1.89013330e+01] [-2.57767241e-03 -4.08858245e-05 9.99996677e-01 -5.17748319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122414037 meters 0.07342268518233787 Centerline is valid? [True, True] Translation: X:234.74, Y:-18.90, Z:-5.18 [[ 9.94596213e-01 1.03763492e-01 3.39280929e-03 2.34739712e+02] [-1.03763100e-01 9.94601998e-01 -2.91770888e-04 -1.89040379e+01] [-3.40477006e-03 -6.18541902e-05 9.99994202e-01 -5.17770941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182414037 meters 0.07387107388241784 Centerline is valid? [True, True] Translation: X:234.80, Y:-18.91, Z:-5.18 [[ 9.94329482e-01 1.06246711e-01 4.52954353e-03 2.34797706e+02] [-1.06246057e-01 9.94339794e-01 -3.85359571e-04 -1.89067320e+01] [-4.54484857e-03 -9.80717579e-05 9.99989667e-01 -5.17828994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242414037 meters 0.07375136924620124 Centerline is valid? [True, True] Translation: X:234.86, Y:-18.91, Z:-5.18 [[ 9.94375684e-01 1.05834999e-01 3.99388741e-03 2.34855109e+02] [-1.05834479e-01 9.94383702e-01 -3.41846713e-04 -1.89121429e+01] [-4.00763590e-03 -8.27669342e-05 9.99991966e-01 -5.17867716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302414037 meters 0.0737990567738808 Centerline is valid? [True, True] Translation: X:234.91, Y:-18.92, Z:-5.18 [[ 9.94294523e-01 1.06610259e-01 3.55732378e-03 2.34913740e+02] [-1.06609855e-01 9.94300883e-01 -3.03596445e-04 -1.89168729e+01] [-3.56941667e-03 -7.73814887e-05 9.99993627e-01 -5.18011470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362414037 meters 0.07343218997843019 Centerline is valid? [True, True] Translation: X:234.97, Y:-18.92, Z:-5.18 [[ 9.94332438e-01 1.06283871e-01 2.59636256e-03 2.34972285e+02] [-1.06283653e-01 9.94335826e-01 -2.22143905e-04 -1.89243124e+01] [-2.60526663e-03 -5.50660070e-05 9.99996605e-01 -5.18033145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422414037 meters 0.07311625732616855 Centerline is valid? [True, True] Translation: X:235.03, Y:-18.93, Z:-5.18 [[ 9.94675141e-01 1.03045105e-01 1.75233315e-03 2.35030633e+02] [-1.03044999e-01 9.94676684e-01 -1.50764955e-04 -1.89331081e+01] [-1.75854052e-03 -3.06070154e-05 9.99998453e-01 -5.18312558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48241403699996 meters 0.07258277826020211 Centerline is valid? [True, True] Translation: X:235.09, Y:-18.94, Z:-5.18 [[ 9.94971567e-01 1.00145346e-01 1.57808128e-03 2.35089193e+02] [-1.00145257e-01 9.94972818e-01 -1.35756603e-04 -1.89409130e+01] [-1.58374337e-03 -2.29633952e-05 9.99998746e-01 -5.18441348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54241403699996 meters 0.07188966293584412 Centerline is valid? [True, True] Translation: X:235.15, Y:-18.95, Z:-5.18 [[ 9.95295305e-01 9.68708178e-02 1.81655933e-03 2.35146829e+02] [-9.68706998e-02 9.95296963e-01 -1.53054582e-04 -1.89480935e+01] [-1.82284250e-03 -2.36368663e-05 9.99998338e-01 -5.18480097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60241403699996 meters 0.07177346765420015 Centerline is valid? [True, True] Translation: X:235.21, Y:-18.95, Z:-5.19 [[ 9.95328363e-01 9.65431603e-02 9.31627780e-04 2.35205021e+02] [-9.65431265e-02 9.95328799e-01 -8.13044731e-05 -1.89526380e+01] [-9.35125350e-04 -9.01761046e-06 9.99999563e-01 -5.18559491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66241403699996 meters 0.07125479859980524 Centerline is valid? [True, True] Translation: X:235.26, Y:-18.96, Z:-5.19 [[ 9.95682747e-01 9.28215575e-02 1.59695092e-04 2.35262874e+02] [-9.28215559e-02 9.95682760e-01 -1.70703990e-05 -1.89616851e+01] [-1.60590151e-04 2.17355483e-06 9.99999987e-01 -5.18605651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72241403699996 meters 0.07099648563016116 Centerline is valid? [True, True] Translation: X:235.32, Y:-18.97, Z:-5.19 [[ 9.95931829e-01 9.01037589e-02 -1.05071292e-03 2.35318988e+02] [-9.01037191e-02 9.95932384e-01 8.52851463e-05 -1.89695757e+01] [ 1.05412353e-03 9.73494964e-06 9.99999444e-01 -5.18945977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78241403699997 meters 0.07088929468294959 Centerline is valid? [True, True] Translation: X:235.38, Y:-18.98, Z:-5.19 [[ 9.96078018e-01 8.84655507e-02 -1.55839042e-03 2.35375525e+02] [-8.84654616e-02 9.96079237e-01 1.26159935e-04 -1.89752591e+01] [ 1.56344115e-03 1.21985907e-05 9.99998778e-01 -5.19056286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84241403699997 meters 0.07058599116332556 Centerline is valid? [True, True] Translation: X:235.43, Y:-18.98, Z:-5.19 [[ 9.96222298e-01 8.68139654e-02 -2.11379136e-03 2.35432762e+02] [-8.68137997e-02 9.96224541e-01 1.70186135e-04 -1.89806028e+01] [ 2.12058536e-03 1.39630377e-05 9.99997751e-01 -5.18899397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90241403699997 meters 0.07045820724785594 Centerline is valid? [True, True] Translation: X:235.49, Y:-18.99, Z:-5.19 [[ 9.96417164e-01 8.45190243e-02 -3.06115017e-03 2.35491258e+02] [-8.45186604e-02 9.96421866e-01 2.48285116e-04 -1.89879950e+01] [ 3.07118178e-03 1.13287609e-05 9.99995284e-01 -5.19066202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962414037 meters 0.07033552287356827 Centerline is valid? [True, True] Translation: X:235.55, Y:-19.00, Z:-5.19 [[ 9.96801574e-01 7.98488317e-02 -3.28435369e-03 2.35548136e+02] [-7.98483912e-02 9.96806984e-01 2.65248660e-04 -1.89993372e+01] [ 3.29504649e-03 -2.14992416e-06 9.99994571e-01 -5.19035254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022414037 meters 0.0704167888564258 Centerline is valid? [True, True] Translation: X:235.61, Y:-19.01, Z:-5.19 [[ 9.97153315e-01 7.52604235e-02 -4.59729305e-03 2.35605686e+02] [-7.52594923e-02 9.97163912e-01 3.75467249e-04 -1.90096987e+01] [ 4.61251255e-03 -2.84084711e-05 9.99989362e-01 -5.19036962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.082414037 meters 0.07066869588418302 Centerline is valid? [True, True] Translation: X:235.66, Y:-19.02, Z:-5.19 [[ 9.97277800e-01 7.35419017e-02 -5.34583408e-03 2.35663619e+02] [-7.35406360e-02 9.97292127e-01 4.33209574e-04 -1.90160881e+01] [ 5.36321730e-03 -3.88942524e-05 9.99985617e-01 -5.19081257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.142414037 meters 0.0707566178734131 Centerline is valid? [True, True] Translation: X:235.72, Y:-19.02, Z:-5.19 [[ 9.97478015e-01 7.08033625e-02 -4.94907282e-03 2.35721831e+02] [-7.08022515e-02 9.97490291e-01 3.99550090e-04 -1.90225120e+01] [ 4.96494158e-03 -4.81369325e-05 9.99987673e-01 -5.18934505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.202414037 meters 0.07077711419255045 Centerline is valid? [True, True] Translation: X:235.78, Y:-19.03, Z:-5.19 [[ 9.97426741e-01 7.15837115e-02 -3.95843281e-03 2.35779796e+02] [-7.15830013e-02 9.97434595e-01 3.20972848e-04 -1.90257130e+01] [ 3.97125426e-03 -3.67904007e-05 9.99992114e-01 -5.18724356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.262414037 meters 0.07090328825344615 Centerline is valid? [True, True] Translation: X:235.84, Y:-19.03, Z:-5.19 [[ 9.97378047e-01 7.22574775e-02 -3.98595477e-03 2.35837995e+02] [-7.22567771e-02 9.97386012e-01 3.19632824e-04 -1.90297847e+01] [ 3.99863139e-03 -3.07825171e-05 9.99992005e-01 -5.18702781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.322414037 meters 0.07110558525294643 Centerline is valid? [True, True] Translation: X:235.90, Y:-19.03, Z:-5.19 [[ 9.97267895e-01 7.36260968e-02 -5.99524258e-03 2.35896202e+02] [-7.36245315e-02 9.97285915e-01 4.81666354e-04 -1.90341352e+01] [ 6.01443419e-03 -3.89534650e-05 9.99981912e-01 -5.18880447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382414037 meters 0.07177944723039904 Centerline is valid? [True, True] Translation: X:235.96, Y:-19.04, Z:-5.19 [[ 9.97171544e-01 7.44577227e-02 -1.02449527e-02 2.35955863e+02] [-7.44531393e-02 9.97224169e-01 8.28574035e-04 -1.90397810e+01] [ 1.02782082e-02 -6.34615583e-05 9.99947176e-01 -5.19176935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442414037 meters 0.07215691850963303 Centerline is valid? [True, True] Translation: X:236.01, Y:-19.05, Z:-5.19 [[ 9.97133128e-01 7.50084430e-02 -9.96289746e-03 2.36012799e+02] [-7.50041518e-02 9.97182897e-01 8.04189375e-04 -1.90465496e+01] [ 9.99515195e-03 -5.46251928e-05 9.99950046e-01 -5.19451464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502414037 meters 0.07227179140979266 Centerline is valid? [True, True] Translation: X:236.07, Y:-19.05, Z:-5.20 [[ 9.97166885e-01 7.45926073e-02 -9.70291836e-03 2.36070206e+02] [-7.45885684e-02 9.97214089e-01 7.77967061e-04 -1.90518436e+01] [ 9.73391749e-03 -5.20362005e-05 9.99952623e-01 -5.19548322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562414037 meters 0.07240323897037201 Centerline is valid? [True, True] Translation: X:236.13, Y:-19.06, Z:-5.19 [[ 9.97323499e-01 7.25929600e-02 -8.72356498e-03 2.36128653e+02] [-7.25896358e-02 9.97361649e-01 6.97506396e-04 -1.90582018e+01] [ 8.75118320e-03 -6.23991154e-05 9.99961706e-01 -5.19310268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622414037 meters 0.0729314013276373 Centerline is valid? [True, True] Translation: X:236.19, Y:-19.07, Z:-5.20 [[ 9.97673306e-01 6.75792804e-02 -9.00087644e-03 2.36186480e+02] [-6.75755537e-02 9.97713901e-01 7.17865454e-04 -1.90693840e+01] [ 9.02881238e-03 -1.07955991e-04 9.99959234e-01 -5.19512088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682414037 meters 0.07430235971329482 Centerline is valid? [True, True] Translation: X:236.24, Y:-19.08, Z:-5.20 [[ 9.98098185e-01 6.07495660e-02 -1.04644249e-02 2.36244246e+02] [-6.07441178e-02 9.98153019e-01 8.37983711e-04 -1.90836465e+01] [ 1.04960045e-02 -2.00737761e-04 9.99944895e-01 -5.20045582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742414037 meters 0.07505759318165801 Centerline is valid? [True, True] Translation: X:236.30, Y:-19.09, Z:-5.20 [[ 9.98346947e-01 5.63985988e-02 -1.10711945e-02 2.36302616e+02] [-5.63922414e-02 9.98408298e-01 8.85809005e-04 -1.90934898e+01] [ 1.11035309e-02 -2.60015240e-04 9.99938320e-01 -5.20231119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802414037 meters 0.07552735858138752 Centerline is valid? [True, True] Translation: X:236.36, Y:-19.10, Z:-5.20 [[ 9.98453580e-01 5.46230636e-02 -1.03328865e-02 2.36361268e+02] [-5.46174847e-02 9.98507013e-01 8.21540947e-04 -1.90987508e+01] [ 1.03623347e-02 -2.55914230e-04 9.99946277e-01 -5.20409474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862414037 meters 0.07679239509601575 Centerline is valid? [True, True] Translation: X:236.42, Y:-19.11, Z:-5.20 [[ 9.98728795e-01 4.95208886e-02 -9.40612915e-03 2.36419877e+02] [-4.95160195e-02 9.98773048e-01 7.49970879e-04 -1.91067108e+01] [ 9.43172750e-03 -2.83263438e-04 9.99955480e-01 -5.20462228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922414037 meters 0.07776994100610743 Centerline is valid? [True, True] Translation: X:236.48, Y:-19.11, Z:-5.21 [[ 9.98825178e-01 4.76349216e-02 -8.89825466e-03 2.36478071e+02] [-4.76305319e-02 9.98864774e-01 7.04714205e-04 -1.91126350e+01] [ 8.92172213e-03 -2.80057689e-04 9.99960161e-01 -5.20687991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98241403699996 meters 0.07846817337117185 Centerline is valid? [True, True] Translation: X:236.54, Y:-19.12, Z:-5.21 [[ 9.98905673e-01 4.60986388e-02 -7.89764942e-03 2.36536803e+02] [-4.60951494e-02 9.98936859e-01 6.23381519e-04 -1.91156120e+01] [ 7.91799014e-03 -2.58656005e-04 9.99968619e-01 -5.20918697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04241403699996 meters 0.08009838309291407 Centerline is valid? [True, True] Translation: X:236.60, Y:-19.12, Z:-5.21 [[ 9.99025150e-01 4.31608566e-02 -9.26770630e-03 2.36595622e+02] [-4.31558972e-02 9.99068080e-01 7.34533710e-04 -1.91191864e+01] [ 9.29077264e-03 -3.33861469e-04 9.99956784e-01 -5.21452427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10241403699996 meters 0.08177164247742283 Centerline is valid? [True, True] Translation: X:236.65, Y:-19.13, Z:-5.22 [[ 9.99164090e-01 3.97835049e-02 -9.40181074e-03 2.36654592e+02] [-3.97782556e-02 9.99208254e-01 7.44749877e-04 -1.91255575e+01] [ 9.42399566e-03 -3.70139702e-04 9.99955525e-01 -5.21816865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16241403699996 meters 0.08347439971955939 Centerline is valid? [True, True] Translation: X:236.71, Y:-19.13, Z:-5.22 [[ 9.99318754e-01 3.61585288e-02 -7.38842808e-03 2.36713509e+02] [-3.61551952e-02 9.99346016e-01 5.84312645e-04 -1.91330552e+01] [ 7.40472406e-03 -3.16784525e-04 9.99972534e-01 -5.21862457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22241403699996 meters 0.08735732352262038 Centerline is valid? [True, True] Translation: X:236.77, Y:-19.15, Z:-5.22 [[ 9.99571956e-01 2.90408194e-02 -3.54052958e-03 2.36772615e+02] [-2.90400087e-02 9.99578211e-01 2.80174228e-04 -1.91451499e+01] [ 3.54717271e-03 -1.77237291e-04 9.99993693e-01 -5.21792251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28241403699997 meters 0.09068668696339893 Centerline is valid? [True, True] Translation: X:236.83, Y:-19.16, Z:-5.22 [[ 9.99708534e-01 2.40556399e-02 -2.04293749e-03 2.36832042e+02] [-2.40553593e-02 9.99710615e-01 1.61786779e-04 -1.91569112e+01] [ 2.04623818e-03 -1.12596029e-04 9.99997900e-01 -5.21711174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34241403699997 meters 0.08864290707227002 Centerline is valid? [True, True] Translation: X:236.89, Y:-19.16, Z:-5.22 [[ 9.99592367e-01 2.85167531e-02 -1.37624156e-03 2.36892720e+02] [-2.85166300e-02 9.99593312e-01 1.08967895e-04 -1.91582430e+01] [ 1.37878927e-03 -6.96777047e-05 9.99999047e-01 -5.21812907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40241403699997 meters 0.08789481416249253 Centerline is valid? [True, True] Translation: X:236.95, Y:-19.16, Z:-5.23 [[ 9.99485389e-01 3.19113785e-02 -3.25888997e-03 2.36951186e+02] [-3.19107080e-02 9.99490690e-01 2.57556002e-04 -1.91627757e+01] [ 3.26544915e-03 -1.53429975e-04 9.99994657e-01 -5.22528831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.462414037 meters 0.08646540399327565 Centerline is valid? [True, True] Translation: X:237.01, Y:-19.16, Z:-5.22 [[ 9.99405384e-01 3.43941731e-02 -2.43305007e-03 2.37011277e+02] [-3.43938064e-02 9.99408340e-01 1.92374245e-04 -1.91644108e+01] [ 2.43822709e-03 -1.08578003e-04 9.99997022e-01 -5.22453222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.522414037 meters 0.08579522276572614 Centerline is valid? [True, True] Translation: X:237.07, Y:-19.17, Z:-5.22 [[ 9.99375955e-01 3.53087476e-02 -9.96762584e-04 2.37070542e+02] [-3.53086897e-02 9.99376451e-01 7.56848435e-05 -1.91672466e+01] [ 9.98813390e-04 -4.04432320e-05 9.99999500e-01 -5.22189608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.582414037 meters 0.0782562839906245 Centerline is valid? [True, True] Translation: X:237.13, Y:-19.15, Z:-5.21 [[ 9.99344507e-01 3.61178819e-02 2.46054883e-03 2.37130634e+02] [-3.61175103e-02 9.99347531e-01 -1.95307191e-04 -1.91537703e+01] [-2.46599748e-03 1.06310271e-04 9.99996954e-01 -5.21222512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.642414037 meters 0.0782804688640662 Centerline is valid? [True, True] Translation: X:237.19, Y:-19.16, Z:-5.21 [[ 9.99257723e-01 3.84462719e-02 2.42632632e-03 2.37188429e+02] [-3.84459178e-02 9.99260664e-01 -1.92428289e-04 -1.91607320e+01] [-2.43193060e-03 9.90031118e-05 9.99997038e-01 -5.21405528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.702414037 meters 0.07688960844447135 Centerline is valid? [True, True] Translation: X:237.25, Y:-19.16, Z:-5.22 [[ 9.99201620e-01 3.99511174e-02 1.75116061e-04 2.37246852e+02] [-3.99511149e-02 9.99201635e-01 -1.78112213e-05 -1.91612438e+01] [-1.75687833e-04 1.08009193e-05 9.99999985e-01 -5.21698334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.762414037 meters 0.07688356728631474 Centerline is valid? [True, True] Translation: X:237.31, Y:-19.17, Z:-5.22 [[ 9.99167673e-01 4.07856452e-02 -7.01600906e-04 2.37305499e+02] [-4.07856195e-02 9.99167919e-01 5.09768703e-05 -1.91672773e+01] [ 7.03096242e-04 -2.23192133e-05 9.99999753e-01 -5.22026255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.822414037 meters 0.0765172569305451 Centerline is valid? [True, True] Translation: X:237.36, Y:-19.17, Z:-5.22 [[ 9.99220775e-01 3.94566146e-02 1.00946648e-03 2.37364465e+02] [-3.94565509e-02 9.99221284e-01 -8.29181828e-05 -1.91724093e+01] [-1.01195206e-03 4.30235053e-05 9.99999487e-01 -5.21711114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882414037 meters 0.07673347086121242 Centerline is valid? [True, True] Translation: X:237.42, Y:-19.18, Z:-5.22 [[ 9.99228974e-01 3.90366278e-02 4.19508035e-03 2.37422261e+02] [-3.90355910e-02 9.99237767e-01 -3.28760378e-04 -1.91796919e+01] [-4.20471642e-03 1.64749454e-04 9.99991147e-01 -5.21627624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942414037 meters 0.07686604620282238 Centerline is valid? [True, True] Translation: X:237.48, Y:-19.19, Z:-5.22 [[ 9.99174959e-01 4.03302814e-02 4.78220403e-03 2.37480117e+02] [-4.03289433e-02 9.99186387e-01 -3.75946656e-04 -1.91863413e+01] [-4.79347520e-03 1.82775249e-04 9.99988495e-01 -5.21868512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002414037 meters 0.07510617687450379 Centerline is valid? [True, True] Translation: X:237.54, Y:-19.19, Z:-5.22 [[ 9.99066179e-01 4.30775276e-02 3.33112423e-03 2.37539380e+02] [-4.30768928e-02 9.99071725e-01 -2.62119585e-04 -1.91864843e+01] [-3.33932349e-03 1.18380331e-04 9.99994417e-01 -5.21959482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062414037 meters 0.07474454628477609 Centerline is valid? [True, True] Translation: X:237.60, Y:-19.19, Z:-5.22 [[ 9.98979213e-01 4.50595818e-02 3.18844536e-03 2.37597517e+02] [-4.50590115e-02 9.98984296e-01 -2.50510370e-04 -1.91902584e+01] [-3.19649473e-03 1.06586456e-04 9.99994886e-01 -5.22154648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122414037 meters 0.07526530539447691 Centerline is valid? [True, True] Translation: X:237.66, Y:-19.20, Z:-5.22 [[ 9.98976620e-01 4.50608289e-02 3.90324576e-03 2.37655091e+02] [-4.50599870e-02 9.98984237e-01 -3.03418944e-04 -1.91987749e+01] [-3.91295330e-03 1.27228228e-04 9.99992336e-01 -5.22306537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182414037 meters 0.07353097339203234 Centerline is valid? [True, True] Translation: X:237.71, Y:-19.20, Z:-5.22 [[ 9.98882883e-01 4.68810901e-02 5.92869633e-03 2.37714450e+02] [-4.68791943e-02 9.98900461e-01 -4.58413160e-04 -1.91980782e+01] [-5.94366840e-03 1.79968552e-04 9.99982320e-01 -5.22016385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242414037 meters 0.07302741276960445 Centerline is valid? [True, True] Translation: X:237.77, Y:-19.20, Z:-5.22 [[ 9.98678420e-01 5.10354224e-02 6.06630602e-03 2.37772870e+02] [-5.10335180e-02 9.98696831e-01 -4.68403811e-04 -1.92002893e+01] [-6.08230579e-03 1.58199840e-04 9.99981490e-01 -5.22023990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302414037 meters 0.07149397804566224 Centerline is valid? [True, True] Translation: X:237.83, Y:-19.19, Z:-5.22 [[ 9.98300422e-01 5.79989809e-02 5.69088478e-03 2.37833144e+02] [-5.79974205e-02 9.98316636e-01 -4.38971744e-04 -1.91949210e+01] [-5.70676487e-03 1.08169039e-04 9.99983710e-01 -5.22236520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362414037 meters 0.07036813736473493 Centerline is valid? [True, True] Translation: X:237.89, Y:-19.19, Z:-5.22 [[ 9.97800841e-01 6.61384280e-02 4.38054134e-03 2.37892386e+02] [-6.61375800e-02 9.97810456e-01 -3.38313553e-04 -1.91872286e+01] [-4.39332548e-03 4.78511447e-05 9.99990348e-01 -5.22382737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422414037 meters 0.07013649280939895 Centerline is valid? [True, True] Translation: X:237.95, Y:-19.19, Z:-5.22 [[ 9.97707157e-01 6.75230435e-02 4.58984133e-03 2.37951324e+02] [-6.75221192e-02 9.97717714e-01 -3.56209965e-04 -1.91895513e+01] [-4.60341838e-03 4.54774183e-05 9.99989403e-01 -5.22484716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48241403699996 meters 0.07004883535333052 Centerline is valid? [True, True] Translation: X:238.01, Y:-19.19, Z:-5.23 [[ 9.97440079e-01 7.13535998e-02 4.68536741e-03 2.38008830e+02] [-7.13526936e-02 9.97451083e-01 -3.60495285e-04 -1.91897492e+01] [-4.69914744e-03 2.52588603e-05 9.99988959e-01 -5.22582850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54241403699996 meters 0.07015759253436558 Centerline is valid? [True, True] Translation: X:238.07, Y:-19.20, Z:-5.23 [[ 9.97484394e-01 7.06195971e-02 6.14467753e-03 2.38067214e+02] [-7.06180209e-02 9.97503319e-01 -4.73360631e-04 -1.91964806e+01] [-6.16276476e-03 3.82448755e-05 9.99981009e-01 -5.22530859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60241403699996 meters 0.070348193307309 Centerline is valid? [True, True] Translation: X:238.12, Y:-19.20, Z:-5.23 [[ 9.97484533e-01 7.05589138e-02 6.78577092e-03 2.38124423e+02] [-7.05570140e-02 9.97507613e-01 -5.19247382e-04 -1.92015137e+01] [-6.80549569e-03 3.91574976e-05 9.99976842e-01 -5.22756818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66241403699996 meters 0.07029970813444997 Centerline is valid? [True, True] Translation: X:238.18, Y:-19.21, Z:-5.23 [[ 9.97568652e-01 6.94331414e-02 5.98532774e-03 2.38182935e+02] [-6.94316352e-02 9.97586606e-01 -4.59325294e-04 -1.92066900e+01] [-6.00277519e-03 4.26374224e-05 9.99981982e-01 -5.22719203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72241403699996 meters 0.07063616142862227 Centerline is valid? [True, True] Translation: X:238.24, Y:-19.21, Z:-5.23 [[ 9.97777729e-01 6.63946519e-02 5.59937355e-03 2.38240441e+02] [-6.63933014e-02 9.97793439e-01 -4.26920743e-04 -1.92135389e+01] [-5.61536345e-03 5.42111130e-05 9.99984232e-01 -5.22823704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78241403699997 meters 0.07099875418782643 Centerline is valid? [True, True] Translation: X:238.30, Y:-19.22, Z:-5.23 [[ 9.98027881e-01 6.25811572e-02 4.89353845e-03 2.38298802e+02] [-6.25800723e-02 9.98039876e-01 -3.74666174e-04 -1.92217742e+01] [-4.90739355e-03 6.76892977e-05 9.99987956e-01 -5.22787157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84241403699997 meters 0.07123639516347623 Centerline is valid? [True, True] Translation: X:238.36, Y:-19.23, Z:-5.23 [[ 9.98034142e-01 6.25606096e-02 3.74462400e-03 2.38356072e+02] [-6.25599814e-02 9.98041165e-01 -2.84753876e-04 -1.92283700e+01] [-3.75510328e-03 4.99304821e-05 9.99992948e-01 -5.23058976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90241403699997 meters 0.07154953837886195 Centerline is valid? [True, True] Translation: X:238.41, Y:-19.23, Z:-5.23 [[ 9.98062612e-01 6.21447288e-02 3.00919100e-03 2.38414400e+02] [-6.21443152e-02 9.98067147e-01 -2.30858329e-04 -1.92348192e+01] [-3.01772131e-03 4.34069530e-05 9.99995446e-01 -5.23195902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.962414037 meters 0.07169136674589771 Centerline is valid? [True, True] Translation: X:238.47, Y:-19.24, Z:-5.23 [[ 9.98112021e-01 6.13250302e-02 3.41079306e-03 2.38471594e+02] [-6.13244972e-02 9.98117848e-01 -2.60728182e-04 -1.92408220e+01] [-3.42036259e-03 5.10707627e-05 9.99994149e-01 -5.23140310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.022414037 meters 0.07187843101456634 Centerline is valid? [True, True] Translation: X:238.53, Y:-19.25, Z:-5.23 [[ 9.98257480e-01 5.88617185e-02 4.15947604e-03 2.38530230e+02] [-5.88609142e-02 9.98266143e-01 -3.15613248e-04 -1.92473129e+01] [-4.17084165e-03 7.02327226e-05 9.99991300e-01 -5.22880795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.082414037 meters 0.07241380703443026 Centerline is valid? [True, True] Translation: X:238.59, Y:-19.26, Z:-5.23 [[ 9.98421880e-01 5.60690549e-02 3.16396134e-03 2.38588811e+02] [-5.60685748e-02 9.98426891e-01 -2.40287542e-04 -1.92551396e+01] [-3.17245678e-03 6.25095360e-05 9.99994966e-01 -5.23042511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.142414037 meters 0.07342901885713075 Centerline is valid? [True, True] Translation: X:238.65, Y:-19.27, Z:-5.23 [[ 9.98662734e-01 5.16965192e-02 4.62473364e-04 2.38646222e+02] [-5.16965082e-02 9.98662841e-01 -3.58011160e-05 -1.92664536e+01] [-4.63705757e-04 1.18449824e-05 9.99999892e-01 -5.23447595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.202414037 meters 0.07496400385003824 Centerline is valid? [True, True] Translation: X:238.71, Y:-19.28, Z:-5.24 [[ 9.98978125e-01 4.51691508e-02 -1.56666376e-03 2.38705801e+02] [-4.51690233e-02 9.98979352e-01 1.16649416e-04 -1.92788972e+01] [ 1.57033370e-03 -4.57655431e-05 9.99998766e-01 -5.23759210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.262414037 meters 0.0761452925685899 Centerline is valid? [True, True] Translation: X:238.77, Y:-19.29, Z:-5.24 [[ 9.99220466e-01 3.94681928e-02 -8.49205140e-04 2.38765539e+02] [-3.94681534e-02 9.99220827e-01 6.30854936e-05 -1.92883740e+01] [ 8.51033332e-04 -2.95197576e-05 9.99999637e-01 -5.23721605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.322414037 meters 0.07810378939270077 Centerline is valid? [True, True] Translation: X:238.82, Y:-19.30, Z:-5.24 [[ 9.99445521e-01 3.32957690e-02 2.04686974e-04 2.38824855e+02] [-3.32957665e-02 9.99445542e-01 -1.55459531e-05 -1.92999798e+01] [-2.05091098e-04 8.72212354e-06 9.99999979e-01 -5.23683309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382414037 meters 0.07976597705580439 Centerline is valid? [True, True] Translation: X:238.88, Y:-19.31, Z:-5.24 [[ 9.99579517e-01 2.89963612e-02 2.97229635e-05 2.38884836e+02] [-2.89963612e-02 9.99579517e-01 -2.21725951e-06 -1.93088320e+01] [-2.97747580e-05 1.35446940e-06 1.00000000e+00 -5.23812473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442414037 meters 0.08507675439766703 Centerline is valid? [True, True] Translation: X:238.94, Y:-19.33, Z:-5.24 [[ 9.99753116e-01 2.21799419e-02 -1.32561714e-03 2.38942682e+02] [-2.21798299e-02 9.99753992e-01 9.91847776e-05 -1.93265815e+01] [ 1.32749094e-03 -6.97583278e-05 9.99999116e-01 -5.24318031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502414037 meters 0.08814087148687362 Centerline is valid? [True, True] Translation: X:239.00, Y:-19.34, Z:-5.25 [[ 9.99878801e-01 1.52739364e-02 -3.01494927e-03 2.39002477e+02] [-1.52733282e-02 9.99883331e-01 2.24638870e-04 -1.93363863e+01] [ 3.01802863e-03 -1.78563334e-04 9.99995430e-01 -5.24704222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562414037 meters 0.08753436293831426 Centerline is valid? [True, True] Translation: X:239.06, Y:-19.34, Z:-5.25 [[ 9.99950910e-01 9.46553126e-03 -2.92931326e-03 2.39062415e+02] [-9.46493249e-03 9.99955183e-01 2.18200182e-04 -1.93391989e+01] [ 2.93124736e-03 -1.90463718e-04 9.99995686e-01 -5.24702355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622414037 meters 0.09159060056526357 Centerline is valid? [True, True] Translation: X:239.12, Y:-19.35, Z:-5.25 [[ 9.99994404e-01 2.11419800e-03 -2.59272407e-03 2.39122311e+02] [-2.11370415e-03 9.99997747e-01 1.93200128e-04 -1.93517894e+01] [ 2.59312669e-03 -1.87718796e-04 9.99996620e-01 -5.24949639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682414037 meters 0.10200344790838471 Centerline is valid? [True, False] Translation: X:239.12, Y:-19.35, Z:-5.25 [[ 9.99998062e-01 1.09955384e-03 -1.63292398e-03 2.39119804e+02] [-1.09955130e-03 9.99999395e-01 2.45360193e-06 -1.93513823e+01] [ 1.63292570e-03 -6.58113495e-07 9.99998667e-01 -5.24933793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742414037 meters 0.09387754760185932 Centerline is valid? [False, True] Translation: X:239.12, Y:-19.35, Z:-5.25 [[ 9.99996174e-01 1.27430008e-03 -2.45518243e-03 2.39121393e+02] [-1.27655177e-03 9.99998766e-01 -9.15769834e-04 -1.93485092e+01] [ 2.45401244e-03 9.18900498e-04 9.99996567e-01 -5.24844062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802414037 meters 0.09279655446317647 Centerline is valid? [True, True] Translation: X:239.18, Y:-19.35, Z:-5.25 [[ 9.99986784e-01 3.90269688e-03 -3.34687313e-03 2.39181326e+02] [-3.90184524e-03 9.99992354e-01 2.60950708e-04 -1.93504810e+01] [ 3.34786595e-03 -2.47888278e-04 9.99994365e-01 -5.25189916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862414037 meters 0.09317210631167643 Centerline is valid? [True, True] Translation: X:239.24, Y:-19.36, Z:-5.26 [[ 9.99965697e-01 7.03765426e-03 -4.36762680e-03 2.39240506e+02] [-7.03623505e-03 9.99975188e-01 3.40218645e-04 -1.93550762e+01] [ 4.36991277e-03 -3.09475326e-04 9.99990404e-01 -5.25565012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922414037 meters 0.09014316375236876 Centerline is valid? [True, True] Translation: X:239.30, Y:-19.35, Z:-5.26 [[ 9.99959395e-01 7.83288951e-03 -4.45579596e-03 2.39299732e+02] [-7.83142398e-03 9.99969274e-01 3.46256666e-04 -1.93539160e+01] [ 4.45837124e-03 -3.11347378e-04 9.99990013e-01 -5.25549678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98241403699996 meters 0.09122030456694563 Centerline is valid? [True, True] Translation: X:239.36, Y:-19.36, Z:-5.26 [[ 9.99972300e-01 6.52519098e-03 -3.58075685e-03 2.39357922e+02] [-6.52423780e-03 9.99978678e-01 2.77813491e-04 -1.93618750e+01] [ 3.58249329e-03 -2.54444086e-04 9.99993550e-01 -5.25616803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04241403699996 meters 0.09456778983232858 Centerline is valid? [True, True] Translation: X:239.41, Y:-19.38, Z:-5.26 [[ 9.99978686e-01 6.32065458e-03 -1.63633407e-03 2.39414222e+02] [-6.32045676e-03 9.99980018e-01 1.26035765e-04 -1.93769148e+01] [ 1.63709800e-03 -1.15690700e-04 9.99998653e-01 -5.25872517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10241403699996 meters 0.08982602875992389 Centerline is valid? [True, True] Translation: X:239.47, Y:-19.38, Z:-5.26 [[ 9.99952859e-01 9.31271958e-03 -2.74820889e-03 2.39474621e+02] [-9.31216794e-03 9.99956618e-01 2.13454014e-04 -1.93760035e+01] [ 2.75007750e-03 -1.87852169e-04 9.99996201e-01 -5.25982275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16241403699996 meters 0.08949715020740827 Centerline is valid? [True, True] Translation: X:239.53, Y:-19.38, Z:-5.26 [[ 9.99944661e-01 1.00162622e-02 -3.21693178e-03 2.39533393e+02] [-1.00155159e-02 9.99949813e-01 2.48001467e-04 -1.93836133e+01] [ 3.21925438e-03 -2.15768511e-04 9.99994795e-01 -5.26202904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22241403699996 meters 0.0926703689729588 Centerline is valid? [True, True] Translation: X:239.59, Y:-19.40, Z:-5.26 [[ 9.99968021e-01 7.39840380e-03 -3.03645481e-03 2.39591513e+02] [-7.39772237e-03 9.99972609e-01 2.35585309e-04 -1.94002963e+01] [ 3.03811459e-03 -2.13114926e-04 9.99995362e-01 -5.26411381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28241403699997 meters 0.0959022855447838 Centerline is valid? [True, True] Translation: X:239.65, Y:-19.42, Z:-5.26 [[ 9.99990803e-01 4.01193041e-03 -1.51573530e-03 2.39649586e+02] [-4.01175744e-03 9.99991946e-01 1.17135567e-04 -1.94176957e+01] [ 1.51619303e-03 -1.11053727e-04 9.99998844e-01 -5.26488603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34241403699997 meters 0.09377459592095845 Centerline is valid? [True, True] Translation: X:239.71, Y:-19.42, Z:-5.26 [[ 9.99999308e-01 1.16085531e-03 -1.91507541e-04 2.39709575e+02] [-1.16085253e-03 9.99999326e-01 1.46080346e-05 -1.94245980e+01] [ 1.91524370e-04 -1.43857125e-05 9.99999982e-01 -5.26350301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40241403699997 meters 0.09352999788452146 Centerline is valid? [True, True] Translation: X:239.77, Y:-19.43, Z:-5.26 [[ 9.99999265e-01 9.69062035e-04 -7.28355187e-04 2.39769161e+02] [-9.69021517e-04 9.99999529e-01 5.59807038e-05 -1.94332221e+01] [ 7.28409092e-04 -5.52748708e-05 9.99999733e-01 -5.26447057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.462414037 meters 0.09383304263436622 Centerline is valid? [True, True] Translation: X:239.83, Y:-19.44, Z:-5.27 [[ 9.99992082e-01 3.77566457e-03 -1.25682198e-03 2.39827831e+02] [-3.77554572e-03 9.99992868e-01 9.69244031e-05 -1.94420439e+01] [ 1.25717897e-03 -9.21784468e-05 9.99999206e-01 -5.26520559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.522414037 meters 0.09121733866772197 Centerline is valid? [True, True] Translation: X:239.89, Y:-19.44, Z:-5.27 [[ 9.99988729e-01 4.49788335e-03 -1.51996421e-03 2.39886510e+02] [-4.49771114e-03 9.99989878e-01 1.16697973e-04 -1.94434277e+01] [ 1.52047372e-03 -1.09860298e-04 9.99998838e-01 -5.26523756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.582414037 meters 0.09239706090151978 Centerline is valid? [True, True] Translation: X:239.95, Y:-19.46, Z:-5.27 [[ 9.99993193e-01 3.20300479e-03 -1.83163075e-03 2.39945671e+02] [-3.20275136e-03 9.99994861e-01 1.41277929e-04 -1.94553446e+01] [ 1.83207385e-03 -1.35410709e-04 9.99998313e-01 -5.26673957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.642414037 meters 0.09270822850652546 Centerline is valid? [True, True] Translation: X:240.00, Y:-19.46, Z:-5.27 [[ 9.99995775e-01 2.29036213e-03 -1.78993000e-03 2.40003806e+02] [-2.29011978e-03 9.99997368e-01 1.37430915e-04 -1.94643369e+01] [ 1.79024006e-03 -1.33331180e-04 9.99998389e-01 -5.26706416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.702414037 meters 0.09277293581508769 Centerline is valid? [True, True] Translation: X:240.06, Y:-19.47, Z:-5.27 [[ 9.99999264e-01 7.88020517e-04 -9.22953187e-04 2.40062535e+02] [-7.87955716e-04 9.99999687e-01 7.05723350e-05 -1.94704240e+01] [ 9.23008511e-04 -6.98450368e-05 9.99999572e-01 -5.26607537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.762414037 meters 0.09786340136997505 Centerline is valid? [True, True] Translation: X:240.12, Y:-19.49, Z:-5.27 [[ 9.99998375e-01 -8.06804686e-04 -1.61192555e-03 2.40120697e+02] [ 8.07006086e-04 9.99999667e-01 1.24296973e-04 -1.94888348e+01] [ 1.61182473e-03 -1.25597605e-04 9.99998693e-01 -5.26884738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.822414037 meters 0.0954667121198039 Centerline is valid? [True, True] Translation: X:240.18, Y:-19.49, Z:-5.27 [[ 9.99997848e-01 -1.47063584e-03 -1.46354322e-03 2.40180857e+02] [ 1.47080290e-03 9.99998912e-01 1.13076856e-04 -1.94933441e+01] [ 1.46337534e-03 -1.15229196e-04 9.99998923e-01 -5.26867535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882414037 meters 0.09360170091626165 Centerline is valid? [True, True] Translation: X:240.24, Y:-19.50, Z:-5.27 [[ 9.99998068e-01 -5.18474831e-04 -1.89608773e-03 2.40241614e+02] [ 5.18754058e-04 9.99999855e-01 1.46775966e-04 -1.94987064e+01] [ 1.89601135e-03 -1.47759286e-04 9.99998192e-01 -5.26944416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942414037 meters 0.09377002900473536 Centerline is valid? [True, True] Translation: X:240.30, Y:-19.51, Z:-5.27 [[ 9.99998412e-01 -1.08059211e-04 -1.77859665e-03 2.40300949e+02] [ 1.08302867e-04 9.99999985e-01 1.36897668e-04 -1.95062016e+01] [ 1.77858183e-03 -1.37090077e-04 9.99998409e-01 -5.27054867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002414037 meters 0.09391395167477541 Centerline is valid? [True, True] Translation: X:240.36, Y:-19.51, Z:-5.27 [[ 9.99997401e-01 -1.11767861e-03 -1.98713194e-03 2.40360373e+02] [ 1.11798471e-03 9.99999363e-01 1.52936647e-04 -1.95134641e+01] [ 1.98695974e-03 -1.55157833e-04 9.99998014e-01 -5.27032177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062414037 meters 0.09713568411273008 Centerline is valid? [True, True] Translation: X:240.42, Y:-19.53, Z:-5.27 [[ 9.99998772e-01 -1.44519460e-03 -6.05647941e-04 2.40419128e+02] [ 1.44522321e-03 9.99998955e-01 4.68078646e-05 -1.95276679e+01] [ 6.05579661e-04 -4.76831036e-05 9.99999815e-01 -5.27096702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122414037 meters 0.09336391485086226 Centerline is valid? [True, True] Translation: X:240.48, Y:-19.53, Z:-5.27 [[ 9.99996847e-01 -2.39381518e-03 -7.58815956e-04 2.40479805e+02] [ 2.39386033e-03 9.99997133e-01 5.85909926e-05 -1.95275369e+01] [ 7.58673524e-04 -6.04073073e-05 9.99999710e-01 -5.27036797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182414037 meters 0.09908315088781679 Centerline is valid? [True, True] Translation: X:240.54, Y:-19.55, Z:-5.27 [[ 9.99993707e-01 -3.20404937e-03 -1.52319656e-03 2.40538676e+02] [ 3.20423262e-03 9.99994859e-01 1.17882532e-04 -1.95459440e+01] [ 1.52281103e-03 -1.22762466e-04 9.99998833e-01 -5.27333157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242414037 meters 0.09853460379967105 Centerline is valid? [True, True] Translation: X:240.60, Y:-19.55, Z:-5.27 [[ 9.99986327e-01 -4.91488588e-03 -1.78611763e-03 2.40599232e+02] [ 4.91514053e-03 9.99987911e-01 1.38210588e-04 -1.95519432e+01] [ 1.78541675e-03 -1.46987718e-04 9.99998395e-01 -5.27341600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302414037 meters 0.09733425234040287 Centerline is valid? [True, True] Translation: X:240.66, Y:-19.56, Z:-5.27 [[ 9.99965545e-01 -8.14471070e-03 -1.60393867e-03 2.40659509e+02] [ 8.14491992e-03 9.99966822e-01 1.23951434e-04 -1.95583278e+01] [ 1.60287590e-03 -1.37011115e-04 9.99998706e-01 -5.27338944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362414037 meters 0.1021296168314511 Centerline is valid? [True, False] Translation: X:240.66, Y:-19.56, Z:-5.27 [[ 9.99967322e-01 -7.98351793e-03 -1.27211068e-03 2.40659022e+02] [ 7.98475933e-03 9.99967647e-01 9.73785416e-04 -1.95606225e+01] [ 1.26429529e-03 -9.83911092e-04 9.99998717e-01 -5.27391055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422414037 meters 0.10150786660241365 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.56, Z:-5.27 [[ 9.99965697e-01 -8.24705526e-03 -7.69093125e-04 2.40657374e+02] [ 8.24809502e-03 9.99965061e-01 1.35870205e-03 -1.95631034e+01] [ 7.57860962e-04 -1.36499900e-03 9.99998781e-01 -5.27313983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48241403699996 meters 0.1039452113513316 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.56, Z:-5.27 [[ 9.99967271e-01 -8.06947868e-03 -5.84127458e-04 2.40657236e+02] [ 8.07061442e-03 9.99965494e-01 1.96881418e-03 -1.95646356e+01] [ 5.68219998e-04 -1.97346400e-03 9.99997891e-01 -5.27360319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54241403699996 meters 0.104926368452318 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.57, Z:-5.28 [[ 9.99970610e-01 -7.65736923e-03 -3.80025581e-04 2.40657673e+02] [ 7.65847506e-03 9.99966176e-01 2.99913339e-03 -1.95665144e+01] [ 3.57047256e-04 -3.00195566e-03 9.99995430e-01 -5.27505825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60241403699996 meters 0.10204678044167816 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.57, Z:-5.28 [[ 9.99971670e-01 -7.51730607e-03 -3.85247997e-04 2.40658216e+02] [ 7.51849465e-03 9.99966671e-01 3.18269842e-03 -1.95661290e+01] [ 3.61309839e-04 -3.18550474e-03 9.99994861e-01 -5.27585099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66241403699996 meters 0.10377414768562358 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.56, Z:-5.28 [[ 9.99968978e-01 -7.86556271e-03 -4.18330744e-04 2.40657853e+02] [ 7.86660640e-03 9.99965794e-01 2.55468806e-03 -1.95644246e+01] [ 3.98222375e-04 -2.55789965e-03 9.99996649e-01 -5.27520501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72241403699996 meters 0.10393562620548005 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.56, Z:-5.28 [[ 9.99968604e-01 -7.91601801e-03 -3.58377779e-04 2.40657710e+02] [ 7.91690453e-03 9.99965425e-01 2.54383220e-03 -1.95642403e+01] [ 3.38228366e-04 -2.54658957e-03 9.99996700e-01 -5.27521660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78241403699997 meters 0.10778116046464278 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.56, Z:-5.28 [[ 9.99964379e-01 -8.43544622e-03 2.89793568e-04 2.40656079e+02] [ 8.43468920e-03 9.99961249e-01 2.52106690e-03 -1.95645784e+01] [-3.11048663e-04 -2.51853278e-03 9.99996780e-01 -5.27502320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84241403699997 meters 0.10893340763389689 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.57, Z:-5.28 [[ 9.99960777e-01 -8.79340628e-03 1.05816372e-03 2.40654814e+02] [ 8.79033379e-03 9.99957234e-01 2.87404305e-03 -1.95653914e+01] [-1.08339109e-03 -2.86462871e-03 9.99995310e-01 -5.27578533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90241403699997 meters 0.11391493684205435 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.57, Z:-5.28 [[ 9.99959758e-01 -8.82201088e-03 1.62949692e-03 2.40654253e+02] [ 8.81619469e-03 9.99954861e-01 3.54266528e-03 -1.95665322e+01] [-1.66067680e-03 -3.52815676e-03 9.99992397e-01 -5.27699756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.962414037 meters 0.11620533142358641 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.57, Z:-5.28 [[ 9.99954279e-01 -9.34003027e-03 2.05041331e-03 2.40653324e+02] [ 9.33334767e-03 9.99951178e-01 3.24488039e-03 -1.95654019e+01] [-2.08062049e-03 -3.22559481e-03 9.99992633e-01 -5.27713586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.022414037 meters 0.11581042045228648 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.56, Z:-5.28 [[ 9.99946885e-01 -1.00649071e-02 2.21932247e-03 2.40652544e+02] [ 1.00597651e-02 9.99946717e-01 2.31603431e-03 -1.95625170e+01] [-2.24251489e-03 -2.29358543e-03 9.99994855e-01 -5.27668005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.082414037 meters 0.11606590431551345 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.56, Z:-5.28 [[ 9.99943634e-01 -1.03924248e-02 2.17410713e-03 2.40652541e+02] [ 1.03887077e-02 9.99944567e-01 1.71409341e-03 -1.95604261e+01] [-2.19180020e-03 -1.69141063e-03 9.99996168e-01 -5.27656305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.142414037 meters 0.12084677172060829 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.56, Z:-5.28 [[ 9.99974846e-01 -6.61308676e-03 2.56414333e-03 2.40652105e+02] [ 6.59874632e-03 9.99962763e-01 5.56137906e-03 -1.95581150e+01] [-2.60082573e-03 -5.54431903e-03 9.99981248e-01 -5.27745462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.202414037 meters 0.11913991938745101 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.55, Z:-5.28 [[ 9.99974901e-01 -6.79131156e-03 2.01874550e-03 2.40653707e+02] [ 6.78188272e-03 9.99966231e-01 4.64136131e-03 -1.95535857e+01] [-2.05019827e-03 -4.62755392e-03 9.99987191e-01 -5.27810831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.262414037 meters 0.11645496696731923 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.55, Z:-5.28 [[ 9.99972081e-01 -7.30713159e-03 1.56329899e-03 2.40654651e+02] [ 7.30204358e-03 9.99968104e-01 3.23598329e-03 -1.95480701e+01] [-1.58689488e-03 -3.22447767e-03 9.99993542e-01 -5.27804701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.322414037 meters 0.1155610334702034 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.54, Z:-5.28 [[ 9.99970343e-01 -7.58972017e-03 1.30733164e-03 2.40655130e+02] [ 7.58656671e-03 9.99968340e-01 2.40043482e-03 -1.95449556e+01] [-1.32550888e-03 -2.39044547e-03 9.99996264e-01 -5.27786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382414037 meters 0.11624033222145223 Centerline is valid? [False, False] Translation: X:240.65, Y:-19.54, Z:-5.28 [[ 9.99989999e-01 -4.12731659e-03 1.72231370e-03 2.40654143e+02] [ 4.11747032e-03 9.99975381e-01 5.68180127e-03 -1.95415707e+01] [-1.74572189e-03 -5.67465287e-03 9.99982375e-01 -5.27799119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442414037 meters 0.11932763077491455 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.54, Z:-5.28 [[ 9.99988940e-01 -4.52131322e-03 1.29491564e-03 2.40655028e+02] [ 4.51544278e-03 9.99979675e-01 4.50105500e-03 -1.95370673e+01] [-1.31524000e-03 -4.49515810e-03 9.99989032e-01 -5.27784127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502414037 meters 0.1106564229524042 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.53, Z:-5.28 [[ 9.99989107e-01 -4.57905085e-03 9.04343034e-04 2.40656088e+02] [ 4.57550808e-03 9.99981999e-01 3.88147700e-03 -1.95343421e+01] [-9.22100236e-04 -3.87729689e-03 9.99992058e-01 -5.27801774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562414037 meters 0.11082013254036634 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.53, Z:-5.28 [[ 9.99990689e-01 -4.31538842e-03 -1.31085658e-05 2.40658632e+02] [ 4.31540829e-03 9.99986481e-01 2.90084974e-03 -1.95296544e+01] [ 5.90095187e-07 -2.90087930e-03 9.99995792e-01 -5.27852824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622414037 meters 0.10726481966634012 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.53, Z:-5.28 [[ 9.99999996e-01 -6.05595494e-05 5.85661916e-05 2.40659229e+02] [ 6.01434803e-05 9.99974946e-01 7.07835140e-03 -1.95278879e+01] [-5.89933861e-05 -7.07834785e-03 9.99974946e-01 -5.27973238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682414037 meters 0.11234632413614823 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.52, Z:-5.28 [[ 9.99999845e-01 -2.31209888e-04 -5.06129209e-04 2.40660430e+02] [ 2.34179478e-04 9.99982714e-01 5.87508242e-03 -1.95236212e+01] [ 5.04762083e-04 -5.87520003e-03 9.99982613e-01 -5.27935045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742414037 meters 0.11436287175250287 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.52, Z:-5.28 [[ 9.99999584e-01 -7.08797018e-04 -5.73523039e-04 2.40660107e+02] [ 7.11534719e-04 9.99988287e-01 4.78743947e-03 -1.95210814e+01] [ 5.70122998e-04 -4.78784556e-03 9.99988376e-01 -5.27844708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802414037 meters 0.1075851329646021 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.52, Z:-5.28 [[ 9.99999536e-01 -6.42338981e-04 -7.17344979e-04 2.40660864e+02] [ 6.45574321e-04 9.99989581e-01 4.51907184e-03 -1.95197513e+01] [ 7.14434729e-04 -4.51953284e-03 9.99989532e-01 -5.27891428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862414037 meters 0.11695151372902673 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.52, Z:-5.28 [[ 9.99999464e-01 -6.96557091e-04 -7.66251493e-04 2.40661011e+02] [ 6.99882505e-04 9.99990302e-01 4.34817322e-03 -1.95191502e+01] [ 7.63215311e-04 -4.34870717e-03 9.99990253e-01 -5.27894486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922414037 meters 0.10798375957571865 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.52, Z:-5.28 [[ 9.99999048e-01 -7.27324427e-04 -1.17243808e-03 2.40661617e+02] [ 7.31590076e-04 9.99993100e-01 3.64195879e-03 -1.95175254e+01] [ 1.16978111e-03 -3.64281307e-03 9.99992681e-01 -5.27818107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98241403699996 meters 0.10353562258683423 Centerline is valid? [False, False] Translation: X:240.66, Y:-19.52, Z:-5.28 [[ 9.99998407e-01 -4.85912638e-04 -1.71766376e-03 2.40662942e+02] [ 4.91480137e-04 9.99994623e-01 3.24238650e-03 -1.95159850e+01] [ 1.71607901e-03 -3.24322553e-03 9.99993268e-01 -5.27807048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04241403699996 meters 0.10443264625498774 Centerline is valid? [False, False] Translation: X:240.67, Y:-19.52, Z:-5.28 [[ 9.99996922e-01 2.11060401e-04 -2.47202163e-03 2.40665092e+02] [-2.02960359e-04 9.99994612e-01 3.27647991e-03 -1.95158309e+01] [ 2.47269984e-03 -3.27596810e-03 9.99991577e-01 -5.27827545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10241403699996 meters 0.10817252311645398 Centerline is valid? [False, False] Translation: X:240.67, Y:-19.52, Z:-5.28 [[ 9.99996113e-01 4.37478845e-04 -2.75368758e-03 2.40665739e+02] [-4.28442709e-04 9.99994525e-01 3.28120246e-03 -1.95159738e+01] [ 2.75510796e-03 -3.28000991e-03 9.99990825e-01 -5.27813334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16241403699996 meters 0.09939378547299998 Centerline is valid? [False, True] Translation: X:240.67, Y:-19.52, Z:-5.28 [[ 9.99994196e-01 8.93795249e-04 -3.28761111e-03 2.40666957e+02] [-8.83010392e-04 9.99994229e-01 3.28044397e-03 -1.95163889e+01] [ 3.29052418e-03 -3.27752194e-03 9.99989215e-01 -5.27780421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22241403699996 meters 0.0983185238586925 Centerline is valid? [True, True] Translation: X:240.73, Y:-19.52, Z:-5.28 [[ 9.99987001e-01 4.05620704e-03 -3.08946427e-03 2.40727762e+02] [-4.05539313e-03 9.99991740e-01 2.69666379e-04 -1.95204403e+01] [ 3.09053257e-03 -2.57133882e-04 9.99995191e-01 -5.27697017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28241403699997 meters 0.09756090678084414 Centerline is valid? [True, True] Translation: X:240.79, Y:-19.53, Z:-5.28 [[ 9.99972267e-01 7.16898113e-03 -2.01754590e-03 2.40787778e+02] [-7.16864036e-03 9.99974289e-01 1.76085956e-04 -1.95255358e+01] [ 2.01875639e-03 -1.61618012e-04 9.99997949e-01 -5.27612141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34241403699997 meters 0.096031164753387 Centerline is valid? [True, True] Translation: X:240.85, Y:-19.53, Z:-5.27 [[ 9.99943060e-01 1.04269007e-02 -2.27096166e-03 2.40847844e+02] [-1.04264775e-02 9.99945623e-01 1.98142646e-04 -1.95273513e+01] [ 2.27290418e-03 -1.74453233e-04 9.99997402e-01 -5.27495188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40241403699997 meters 0.09447897463305446 Centerline is valid? [True, True] Translation: X:240.91, Y:-19.53, Z:-5.28 [[ 9.99908123e-01 1.34035621e-02 -2.02218406e-03 2.40908382e+02] [-1.34032326e-02 9.99910157e-01 1.76442583e-04 -1.95300005e+01] [ 2.02436734e-03 -1.49322569e-04 9.99997940e-01 -5.27507885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.462414037 meters 0.09068753413689717 Centerline is valid? [True, True] Translation: X:240.97, Y:-19.53, Z:-5.28 [[ 9.99878609e-01 1.53094022e-02 -2.89632252e-03 2.40968799e+02] [-1.53087345e-02 9.99882783e-01 2.52559978e-04 -1.95283802e+01] [ 2.89984956e-03 -2.08190287e-04 9.99995774e-01 -5.27571259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.522414037 meters 0.09232402652092153 Centerline is valid? [True, True] Translation: X:241.03, Y:-19.54, Z:-5.28 [[ 9.99888712e-01 1.47463408e-02 -2.26011630e-03 2.41025731e+02] [-1.47459360e-02 9.99891254e-01 1.95670233e-04 -1.95397272e+01] [ 2.26275594e-03 -1.62320927e-04 9.99997427e-01 -5.27661563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.582414037 meters 0.09137077048912483 Centerline is valid? [True, True] Translation: X:241.08, Y:-19.55, Z:-5.28 [[ 9.99878431e-01 1.55070170e-02 -1.62975484e-03 2.41084530e+02] [-1.55068074e-02 9.99879752e-01 1.41191439e-04 -1.95454696e+01] [ 1.63174832e-03 -1.15901980e-04 9.99998662e-01 -5.27573694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.642414037 meters 0.09225398877539746 Centerline is valid? [True, True] Translation: X:241.14, Y:-19.55, Z:-5.27 [[ 9.99878341e-01 1.55197983e-02 -1.56145116e-03 2.41142215e+02] [-1.55196064e-02 9.99879555e-01 1.34938843e-04 -1.95528076e+01] [ 1.56335732e-03 -1.10689319e-04 9.99998772e-01 -5.27489775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.702414037 meters 0.08980825742515215 Centerline is valid? [True, True] Translation: X:241.20, Y:-19.55, Z:-5.28 [[ 9.99855058e-01 1.68186122e-02 -2.64528569e-03 2.41201577e+02] [-1.68180639e-02 9.99858540e-01 2.29411722e-04 -1.95549535e+01] [ 2.64876988e-03 -1.84889886e-04 9.99996475e-01 -5.27552901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.762414037 meters 0.08926175793957787 Centerline is valid? [True, True] Translation: X:241.26, Y:-19.56, Z:-5.28 [[ 9.99824034e-01 1.83504087e-02 -3.89394249e-03 2.41260289e+02] [-1.83492328e-02 9.99831582e-01 3.37497482e-04 -1.95590796e+01] [ 3.89947990e-03 -2.65987236e-04 9.99992362e-01 -5.27699895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.822414037 meters 0.08878876064587385 Centerline is valid? [True, True] Translation: X:241.32, Y:-19.57, Z:-5.28 [[ 9.99806063e-01 1.93230239e-02 -3.80234765e-03 2.41318692e+02] [-1.93219107e-02 9.99813260e-01 3.29276889e-04 -1.95653726e+01] [ 3.80800023e-03 -2.55744408e-04 9.99992717e-01 -5.27717464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882414037 meters 0.0883977237059393 Centerline is valid? [True, True] Translation: X:241.38, Y:-19.57, Z:-5.28 [[ 9.99812447e-01 1.92913892e-02 -1.70661209e-03 2.41377501e+02] [-1.92911658e-02 9.99813897e-01 1.47281286e-04 -1.95707360e+01] [ 1.70913575e-03 -1.14331126e-04 9.99998533e-01 -5.27539317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942414037 meters 0.09114421207793766 Centerline is valid? [True, True] Translation: X:241.43, Y:-19.58, Z:-5.28 [[ 9.99808033e-01 1.94421045e-02 -2.42928372e-03 2.41434648e+02] [-1.94416524e-02 9.99810971e-01 2.09572994e-04 -1.95824829e+01] [ 2.43289905e-03 -1.62303473e-04 9.99997027e-01 -5.27667780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002414037 meters 0.09295775446342784 Centerline is valid? [True, True] Translation: X:241.49, Y:-19.59, Z:-5.28 [[ 9.99813060e-01 1.91167327e-02 -2.89739990e-03 2.41491447e+02] [-1.91160898e-02 9.99817240e-01 2.49427839e-04 -1.95929407e+01] [ 2.90163862e-03 -1.93994255e-04 9.99995771e-01 -5.27790149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062414037 meters 0.09072315624852 Centerline is valid? [True, True] Translation: X:241.55, Y:-19.60, Z:-5.28 [[ 9.99799993e-01 1.95428237e-02 -4.24883379e-03 2.41550598e+02] [-1.95414415e-02 9.99808981e-01 3.66586574e-04 -1.95953808e+01] [ 4.25518631e-03 -2.83484917e-04 9.99990906e-01 -5.27829475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122414037 meters 0.09234488607326446 Centerline is valid? [True, True] Translation: X:241.61, Y:-19.61, Z:-5.28 [[ 9.99839316e-01 1.72995388e-02 -4.69776808e-03 2.41610146e+02] [-1.72978221e-02 9.99850299e-01 4.05818296e-04 -1.96056396e+01] [ 4.70408529e-03 -3.24491931e-04 9.99988883e-01 -5.27956535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182414037 meters 0.09187037422019455 Centerline is valid? [True, True] Translation: X:241.67, Y:-19.61, Z:-5.28 [[ 9.99901321e-01 1.31164027e-02 -5.03065341e-03 2.41669927e+02] [-1.31143806e-02 9.99913908e-01 4.34746673e-04 -1.96139775e+01] [ 5.03592263e-03 -3.68729869e-04 9.99987252e-01 -5.27949089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242414037 meters 0.09824466557003317 Centerline is valid? [True, True] Translation: X:241.73, Y:-19.63, Z:-5.28 [[ 9.99962814e-01 6.80255793e-03 -5.30061014e-03 2.41727189e+02] [-6.80022479e-03 9.99976773e-01 4.58063120e-04 -1.96349500e+01] [ 5.30360303e-03 -4.22000745e-04 9.99985847e-01 -5.28076765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302414037 meters 0.09918843900866312 Centerline is valid? [True, True] Translation: X:241.79, Y:-19.64, Z:-5.28 [[ 9.99991430e-01 1.39197370e-03 -3.89893773e-03 2.41786543e+02] [-1.39067131e-03 9.99998976e-01 3.36728825e-04 -1.96445466e+01] [ 3.89940245e-03 -3.31303799e-04 9.99992342e-01 -5.27828718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362414037 meters 0.09962838535487342 Centerline is valid? [True, True] Translation: X:241.85, Y:-19.65, Z:-5.28 [[ 9.99990912e-01 -1.01384964e-03 -4.14099495e-03 2.41846795e+02] [ 1.01533991e-03 9.99999421e-01 3.57797538e-04 -1.96510938e+01] [ 4.14062980e-03 -3.61998804e-04 9.99991362e-01 -5.27808657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422414037 meters 0.10342514671207684 Centerline is valid? [True, False] Translation: X:241.85, Y:-19.65, Z:-5.28 [[ 9.99991494e-01 -1.14353779e-03 -3.96280282e-03 2.41846462e+02] [ 1.14558490e-03 9.99999212e-01 5.14351077e-04 -1.96513882e+01] [ 3.96221151e-03 -5.18886429e-04 9.99992016e-01 -5.27831824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48241403699996 meters 0.10582942847201593 Centerline is valid? [False, False] Translation: X:241.85, Y:-19.65, Z:-5.28 [[ 9.99991706e-01 -1.10782217e-03 -3.91932384e-03 2.41846885e+02] [ 1.11042471e-03 9.99999164e-01 6.61912255e-04 -1.96509606e+01] [ 3.91858729e-03 -6.66258879e-04 9.99992100e-01 -5.27914827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54241403699996 meters 0.10032200638914957 Centerline is valid? [False, False] Translation: X:241.85, Y:-19.65, Z:-5.28 [[ 9.99991647e-01 -1.21779632e-03 -3.90177422e-03 2.41847119e+02] [ 1.21974002e-03 9.99999133e-01 4.95817185e-04 -1.96497624e+01] [ 3.90116704e-03 -5.00572194e-04 9.99992265e-01 -5.27958971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60241403699996 meters 0.10416231277939586 Centerline is valid? [False, False] Translation: X:241.85, Y:-19.65, Z:-5.28 [[ 9.99991856e-01 -1.51774486e-03 -3.73952053e-03 2.41846733e+02] [ 1.51866040e-03 9.99998818e-01 2.42000762e-04 -1.96486905e+01] [ 3.73914881e-03 -2.47677853e-04 9.99992979e-01 -5.27966675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66241403699996 meters 0.15850062508970364 Centerline is valid? [False, False] Translation: X:241.93, Y:-19.65, Z:-5.28 [[ 9.99982758e-01 -4.38118421e-03 -3.91019454e-03 2.41931944e+02] [ 4.37281068e-03 9.99988133e-01 -2.14744900e-03 -1.96532531e+01] [ 3.91955651e-03 2.13031343e-03 9.99990049e-01 -5.27835967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72241403699996 meters 0.10177612966560648 Centerline is valid? [False, False] Translation: X:241.86, Y:-19.65, Z:-5.28 [[ 9.99995234e-01 -2.93284886e-03 -9.64426817e-04 2.41864393e+02] [ 2.93781044e-03 9.99982247e-01 5.18406002e-03 -1.96462372e+01] [ 9.49205632e-04 -5.18686861e-03 9.99986098e-01 -5.28212934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78241403699997 meters 0.10588648537543323 Centerline is valid? [False, False] Translation: X:241.86, Y:-19.65, Z:-5.28 [[ 9.99995027e-01 -2.94608697e-03 -1.12559433e-03 2.41864924e+02] [ 2.95167409e-03 9.99983170e-01 4.99471483e-03 -1.96450990e+01] [ 1.11086052e-03 -4.99801238e-03 9.99986893e-01 -5.28237802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84241403699997 meters 0.10670671493516684 Centerline is valid? [False, False] Translation: X:241.87, Y:-19.64, Z:-5.28 [[ 9.99992990e-01 -3.39674419e-03 -1.57524035e-03 2.41865632e+02] [ 3.40233005e-03 9.99987886e-01 3.55701943e-03 -1.96402000e+01] [ 1.56313898e-03 -3.56235399e-03 9.99992433e-01 -5.28200380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90241403699997 meters 0.10373320959260568 Centerline is valid? [False, False] Translation: X:241.86, Y:-19.64, Z:-5.28 [[ 9.99999168e-01 -1.09828550e-04 -1.28552196e-03 2.41864575e+02] [ 1.18074231e-04 9.99979411e-01 6.41594934e-03 -1.96359309e+01] [ 1.28479084e-03 -6.41609579e-03 9.99978591e-01 -5.28152821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.962414037 meters 0.1028817267455882 Centerline is valid? [False, False] Translation: X:241.87, Y:-19.63, Z:-5.28 [[ 9.99998145e-01 -7.05115901e-04 -1.79230482e-03 2.41865099e+02] [ 7.13247213e-04 9.99989439e-01 4.54020787e-03 -1.96303220e+01] [ 1.78908451e-03 -4.54147781e-03 9.99988087e-01 -5.28054868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.022414037 meters 0.10116305232736746 Centerline is valid? [False, False] Translation: X:241.87, Y:-19.63, Z:-5.28 [[ 9.99996413e-01 -8.95021414e-04 -2.52435819e-03 2.41866519e+02] [ 9.02919610e-04 9.99994696e-01 3.12939133e-03 -1.96252030e+01] [ 2.52154393e-03 -3.13165940e-03 9.99991917e-01 -5.28019145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.082414037 meters 0.09863610144542348 Centerline is valid? [False, True] Translation: X:241.87, Y:-19.62, Z:-5.28 [[ 9.99995041e-01 -8.87726852e-04 -3.02146834e-03 2.41867680e+02] [ 8.94957798e-04 9.99996737e-01 2.39267922e-03 -1.96222982e+01] [ 3.01933444e-03 -2.39537144e-03 9.99992573e-01 -5.28011463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.142414037 meters 0.09392823622885196 Centerline is valid? [True, True] Translation: X:241.93, Y:-19.61, Z:-5.28 [[ 9.99999278e-01 6.72915523e-04 9.95216163e-04 2.41928287e+02] [-6.72834225e-04 9.99999770e-01 -8.20217095e-05 -1.96110446e+01] [-9.95271128e-04 8.13520349e-05 9.99999501e-01 -5.27566657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.202414037 meters 0.09702676169975531 Centerline is valid? [True, True] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99970965e-01 -9.23085501e-04 7.56415386e-03 2.41989080e+02] [ 9.27795249e-04 9.99999378e-01 -6.19154994e-04 -1.96123704e+01] [-7.56357762e-03 6.26155003e-04 9.99971200e-01 -5.27727290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.262414037 meters 0.10013638326720564 Centerline is valid? [True, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99973743e-01 -7.37110443e-04 7.20905698e-03 2.41990228e+02] [ 7.43061957e-04 9.99999385e-01 -8.22917075e-04 -1.96108808e+01] [-7.20844597e-03 8.28252243e-04 9.99973676e-01 -5.27769719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.322414037 meters 0.1048989038845118 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99978103e-01 -4.97222504e-04 6.59897075e-03 2.41991882e+02] [ 5.06314270e-04 9.99998925e-01 -1.37615596e-03 -1.96083296e+01] [-6.59827940e-03 1.37946698e-03 9.99977280e-01 -5.27788216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382414037 meters 0.10615799248568211 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99979774e-01 -6.13541507e-04 6.33051852e-03 2.41992297e+02] [ 6.26623706e-04 9.99997672e-01 -2.06475229e-03 -1.96061628e+01] [-6.32923697e-03 2.06867738e-03 9.99977830e-01 -5.27740077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442414037 meters 0.11186804803974668 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99980320e-01 -6.17527631e-04 6.24331321e-03 2.41992507e+02] [ 6.31755404e-04 9.99997208e-01 -2.27716672e-03 -1.96053799e+01] [-6.24188956e-03 2.28106616e-03 9.99977918e-01 -5.27734495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502414037 meters 0.12137431772845891 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99981724e-01 -1.97507081e-04 6.04248853e-03 2.41993483e+02] [ 2.09265929e-04 9.99998086e-01 -1.94545706e-03 -1.96057494e+01] [-6.04209272e-03 1.94668600e-03 9.99979852e-01 -5.27797671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562414037 meters 0.1316261795281291 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99982014e-01 3.90457891e-04 5.98484603e-03 2.41994476e+02] [-3.84347394e-04 9.99999404e-01 -1.02211099e-03 -1.96073653e+01] [-5.98524156e-03 1.01979235e-03 9.99981568e-01 -5.27931976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622414037 meters 0.14402915226247978 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99980872e-01 9.92962639e-04 6.10486396e-03 2.41994933e+02] [-9.93147111e-04 9.99999506e-01 2.71857368e-05 -1.96099449e+01] [-6.10483395e-03 -3.32482448e-05 9.99981365e-01 -5.28038777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682414037 meters 0.14522179179521993 Centerline is valid? [False, False] Translation: X:241.99, Y:-19.61, Z:-5.28 [[ 9.99979688e-01 1.37270902e-03 6.22410977e-03 2.41994958e+02] [-1.37684447e-03 9.99998834e-01 6.60187974e-04 -1.96120135e+01] [-6.22319626e-03 -6.68744195e-04 9.99980412e-01 -5.28072559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742414037 meters 0.1558920784983115 Centerline is valid? [False, False] Translation: X:242.00, Y:-19.61, Z:-5.28 [[ 9.99981437e-01 -2.45198947e-03 5.57801215e-03 2.41996326e+02] [ 2.47242496e-03 9.99990247e-01 -3.65963746e-03 -1.96118013e+01] [-5.56898436e-03 3.67336075e-03 9.99977746e-01 -5.28031056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802414037 meters 0.16958625097922297 Centerline is valid? [False, False] Translation: X:242.00, Y:-19.62, Z:-5.28 [[ 9.99981706e-01 -1.54824034e-03 5.84735247e-03 2.41996566e+02] [ 1.56018942e-03 9.99996703e-01 -2.03949432e-03 -1.96165645e+01] [-5.84417556e-03 2.04857999e-03 9.99980824e-01 -5.28153090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2454.99 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/9662 [00:00